《机器人操作的数学导论》第二章习题之12

《机器人操作的数学导论》第二章习题之12

题目如下

易知，上式左侧可级数展开为
$$\begin{array}{r}{e}^{\hat{\omega }\theta }=\sum _{k=0}^{\infty }\frac{{\theta }^k}{k!}{\hat{\omega }}^k\end{array}\text{\hspace{1em}(1)}$$
又有：
$$\begin{array}{rl}{\hat{\omega }}^0& =0\\ {\hat{\omega }}^1& =\hat{\omega }\\ {\hat{\omega }}^2& =\omega {\omega }^T-||\omega |{|}^{2}I={\hat{\omega }}^2\\ {\hat{\omega }}^3& =-||\omega |{|}^2\hat{\omega }\\ {\hat{\omega }}^4& =-||\omega |{|}^2{\hat{\omega }}^2\\ {\hat{\omega }}^5& =||\omega |{|}^4\hat{\omega }\\ {\hat{\omega }}^6& =||\omega |{|}^4{\hat{\omega }}^2\end{array}\text{\hspace{1em}(2)}$$
由上几式递推得到：
$$\begin{array}{rl}对于k& =1,2,3,\cdots ,有：\\ {\hat{\omega }}^{2k}& =(-1{)}^{k-1}||\omega |{|}^{2k-2}{\hat{\omega }}^2\\ {\hat{\omega }}^{2k-1}& =(-1{)}^{k-1}||\omega |{|}^{2k-2}\hat{\omega }\end{array}\text{\hspace{1em}(3)}$$
将式(3)带入(1)中得：
$$\begin{array}{rl}{e}^{\hat{\omega }\theta }& =\sum _{k=0}^{\infty }\frac{{\theta }^k}{k!}{\hat{\omega }}^k\\ & =I+(\sum _{k=1}^{\infty }\frac{(-1{)}^{k-1}||\omega |{|}^{2k-2}{\theta }^{2k-1}}{(2k-1)!})\hat{\omega }+(\sum _{k=1}^{\infty }\frac{(-1{)}^{k-1}||\omega |{|}^{2k-2}{\theta }^{2k}}{(2k)!}){\hat{\omega }}^2\\ & =I+(\sum _{k=1}^{\infty }\frac{(-1{)}^{k-1}||\omega |{|}^{2k-1}{\theta }^{2k-1}}{(2k-1)!})\frac{\hat{\omega }}{||\omega ||}+(\sum _{k=1}^{\infty }\frac{(-1{)}^{k-1}||\omega |{|}^{2k}{\theta }^{2k}}{(2k)!})\frac{{\hat{\omega }}^2}{||\omega |{|}^2}\\ & =I+\frac{\hat{\omega }}{||\omega ||}\sin (||\omega ||\theta )+\frac{{\hat{\omega }}^2}{||\omega |{|}^2}(1-\cos (||\omega ||\theta ))\end{array}$$
得证。