《机器人操作的数学导论》第二章习题之14

《机器人操作的数学导论》第二章习题之14

题目如下

第一问(a)

对$\forall g\in SE(3)$，有$g=\left[\begin{array}{ll}R& p\\ 0& 1\end{array}\right]$和$g^{-1}=\left[\begin{array}{cc}{R}^T& -R^{T}p\\ 0& 1\end{array}\right]$
则有${\mathrm{A}\mathrm{d}}_g=\left[\begin{array}{cc}R& \hat{p}R\\ 0& R\end{array}\right]$和${\mathrm{A}\mathrm{d}}_{g^{-1}}=\left[\begin{array}{cc}{R}^T& -\widehat{R^{T}p}{R}^T\\ 0& R^T\end{array}\right]$。
其中$\widehat{R^{T}p}=(R^T)\hat{p}(R^T{)}^T=R^T\hat{p}R$
故：
$${\mathrm{A}\mathrm{d}}_{g^{-1}}=\left[\begin{array}{cc}{R}^T& -R^T\hat{p}\\ 0& R^T\end{array}\right]$$
而：
$$A{d}_g\cdot A{d}_{g^{-1}}=\left[\begin{array}{cc}R& \hat{p}R\\ 0& R\end{array}\right]\cdot \left[\begin{array}{cc}{R}^T& -R^T\hat{p}\\ 0& R^T\end{array}\right]=I$$
所以$(A{d}_g{)}^{-1}=A{d}_{g^{-1}}$

第二问(b)

对$\forall g_1,g_2\in SE(3),令g_1=\left[\begin{array}{cc}{R}_1& p_1\\ 0& 1\end{array}\right]，g_2=\left[\begin{array}{cc}{R}_2& p_2\\ 0& 1\end{array}\right]$
$$g_1{g}_2=\left[\begin{array}{cc}{R}_1{R}_2& R_1{p}_2+p_1\\ 0& 1\end{array}\right]$$
对其进行adjoint伴随变换，故：
$$\begin{array}{rl}A{d}_{g_1{g}_2}& =\left[\begin{array}{cc}{R}_1{R}_2& \widehat{R_1{p}_2+p_1}{R}_1{R}_2\\ 0& R_1{R}_2\end{array}\right]\\ & =\left[\begin{array}{cc}{R}_1{R}_2& \widehat{R_1{p}_2+p_1}{R}_1{R}_2\\ 0& R_1{R}_2\end{array}\right]\end{array}$$
$$\begin{array}{rl}A{d}_{g_1}A{d}_{g_2}& =\left[\begin{array}{cc}{R}_1& \widehat{p_1}{R}_1\\ 0& R_1\end{array}\right]\cdot \left[\begin{array}{cc}{R}_2& \widehat{p_2}{R}_2\\ 0& R_2\end{array}\right]\\ & =\left[\begin{array}{cc}{R}_1{R}_2& R_1\widehat{p_2}{R}_2+\widehat{p_1}{R}_1{R}_2\\ 0& R_1{R}_2\end{array}\right]\end{array}$$
其中$\widehat{R_1{p}_2+p_1}=\widehat{R_1{p}_2}+\widehat{p_1}=R_1\widehat{p_2}{R}_1^T+\widehat{p_1}$
$\because R\omega R^T=\widehat{R\omega }$

故有：
$$A{d}_{g_1{g}_2}=A{d}_{g_1}A{d}_{g_2}$$
得证