Coordinate systems_ver01.

doc 1
Politecnico di Torino - Dipartimento di Meccanica Stefano Pastorelli
POSITION and ORIENTATION of COORDINATE SYSTEMS

Frame of reference 0 : origin O
axes x y z
unit vectors k j i

Frame of reference i : origin P
axes u v w
unit vectors v


Position of origin P with respect to the reference frame O-xyz

Position vector written in terms of its components p
x
, p
y
, p
z
:
k p j p i p p
z y x
+ + =
(
(
(

=
z
y
x
p
p
p
p
0


Orientation of the reference frame P-uvw with respect to the reference frame O-xyz

Units vectors pointing along axes u, v, w written in terms of their components:
k c j c i c
uz uy ux
+ + =
k c j c i c
vz vy vx
+ + =
k c j c i c
wz wy wx
+ + = v
c
ux
, ... c
wz
= direction cosines of the axes u, v, w with respect to the frame O-xyz
conditions: 1 = ( 1
2 2 2
= + +
uz uy ux
c c c ); 1 = ; 1 = v
0 = ( 0 = + +
vz uz vy uy vx ux
c c c c c c ); 0 = v ; 0 = v

Rotation matrix of reference frame i (P-uvw) with respect to the reference frame 0 (O-xyz):

| |
(
(
(

= =
wz vz uz
wy vy uy
wx vx ux
i
c c c
c c c
c c c
A v
0 0 0 0
O
y
z
u
v
w
P
x
p


Coordinate systems_ver01.doc 2
Politecnico di Torino - Dipartimento di Meccanica Stefano Pastorelli

Orientation of the reference frame O-xyz with respect to the reference frame P-uvw

Rotation matrix of reference frame 0 (O-xyz) with respect to the reference frame i (P-uvw):

| |
1 0 0
0
0
0
0

= =
(
(
(
(

=
(
(
(
(

= =
i
T
i
wz wy wx
vz vy vx
uz uy ux
T
T
T
i i i i
A A
c c c
c c c
c c c
k j i A
v

Position vector of a point R in two different coordinate systems with coincident origins


position vector of point R in the frame 0 (O-xyz): | |
T
z y x
r r r r =
0

position vector of point R in the frame i (P-uvw): | |
T
w v u
i
r r r r =

( ) ( ) ( ) k c j c i c r k c j c i c r k c j c i c r r r r r
wz wy wx w vz vy vx v uz uy ux u w v u
+ + + + + + + + = + + = v

r A r
i
i
=
0 0

r A r
i i 0
0
=

i
A
0
= 3 3 transformation matrix of a vector from reference frame i to reference frame 0.
O
y
z
u
v
w
P
x
p
OP
y
z
u
v
w
x
R
r


Coordinate systems_ver01.doc 3
Politecnico di Torino - Dipartimento di Meccanica Stefano Pastorelli
Position vector of a point R in two different coordinate systems
with homogenous coordinates notation


position vector of point R in the frame 0 (O-xyz): | |
T
z y x
r r r r =
0

position vector of point R in the frame i (P-uvw): | |
T
w v u
i
r r r r =

PR OP OR + =

r A p r
i
i
+ =
0 0 0

+ + + =
+ + + =
+ + + =
w wz v vz u uz z z
w wy v vy u uy y y
w wx v vx u ux x x
r c r c r c p r
r c r c r c p r
r c r c r c p r


Homogenous coordinates notation:

(
(
(
(

(
(
(
(

=
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 1 1 0 0 0 1
0 0
w
v
u
T
i
w
v
u
z wz vz uz
y wy vy uy
x wx vx ux
z
y
x
r
r
r
p A
r
r
r
p c c c
p c c c
p c c c
r
r
r


r A r
i
i

0 0
=

i
A

0
= 4 4 homogeneous transformation matrix; it denotes translation and rotation of
reference frame i with respect to reference frame 0; it transforms a position vector from
reference frame i to reference frame 0.

O
y
z
u
v
w
P
x
p
R
r
i

r
0



Coordinate systems_ver01.doc 4
Politecnico di Torino - Dipartimento di Meccanica Stefano Pastorelli
Inverse of the transformation matrix
i
A

0



i
A

0
= transformation matrix of reference frame i with respect to reference frame 0
r A r
i
i

0 0
= r A r A r
i
i
i

0
0
0 1 0
= =


0

A
i
= transformation matrix of reference frame 0 with respect to reference frame i
T
i i
i
A A A

0 1 0
0
= =



(
(
(
(

= =

1 0

0 0 0
1 0
0
T
T
i
T
i
i
i
p A A
A A




Evaluation of the inverse matrix
1 0

i
A from the matrix
i
A

0
:

(
(
(
(

=
(
(
(
(

(
(
(
(

1 0
0
1 0 1 0

2 1
0 0
1 0 0
T T T
i
i i
U x X p A
A A


U X A
i
=
1
0

T
i i
A A X
0 1 0
1
= =


0 p x A
i
= +
0
2
0
p A p A x
T
i i
0 0 0 1 0
2
= =



O
y
z
u
v
w
P
x
p
R
r
i

r
0



Coordinate systems_ver01.doc 5
Politecnico di Torino - Dipartimento di Meccanica Stefano Pastorelli
Composition of homogeneous transformation matrixes in a multiframe system


r A . . . A A r
n
n
n

1
2
1
1
0 0
=



[
=
=

=
n i
i
i
i
n
A A
1
1 0