Chapter 2

1
Rigid motion Perserves distance between points
Inertial frame Base frame/ global frame
Set of orthonormal axes, triplet 20
Trajectory Parameterized curve
Formal definition rigid body
Rigid motion
Rigid dispacement
Object 𝑂 ⊂ 𝑅3
Rigid motions mathematically 𝑔(𝑡): 𝑂 → 𝑅 3
Vector 21
Free vector
Definition: Rigid Body Transformation 21
polarisation identity Orthagonal frames to Orthagonal frames
Right handed 𝑧 =𝑥×𝑦
3 3
By definition 2 𝑔: 𝑅 → 𝑅 perserves cross product or
perserves right handed frames
Transformation 22
2
Definition of rotation 23 (body frame relative to inertial frame)
Notation of body frame
Rotation matrix
Mutually orthogonal Dot product = 0
𝐷𝑒𝑡(𝑅 𝑇 𝑅) 1 (Right handed)
Special orthogonal 𝑆𝑂(𝑛)
𝑆𝑂(3) 24
⊂ 𝑅 3×3 𝑖𝑠 𝑎 𝑔𝑟𝑜𝑢𝑝 𝑢𝑛𝑑𝑒𝑟 𝑚𝑎𝑡𝑟𝑖𝑥 𝑚𝑢𝑙𝑡.
We can thus redefine SO(3) Rotation group of 𝑅 3
Configuration space 𝑆𝑂(3)
Trajectory 𝑅(𝑡) ∈ 𝑆𝑂(3) | 𝑡 ∈ [0, 𝑇]
Q 25
Projection of a projection = Direct projection on second frame
Rotation matrix 𝑅𝑎𝑏 : 𝑅 3 → 𝑅 3 , 𝑝𝑜𝑖𝑛𝑡𝑠 𝑓𝑟𝑎𝑚𝑒 𝐵 𝑡𝑜 𝑓𝑟𝑎𝑚𝑒 𝐴
Rotation on vector
Composition rule
Cross product to matrix 26
Lemma: Following SO(3)
Proof of R preserves distance 26
From rotation around vector to matrix exp 27
∞
Matrix exponential 1 𝑘 𝑋2 𝑋3
𝑋
𝑒 =∑ 𝑋 = 𝑋0 + 𝑋 + + +⋯
𝑘! 2! 3!
𝑘=0
∞
Maclaurin series 𝑓 𝑛 (0) 𝑛
∑ 0
𝑛!
𝑛=0
Skew-symmetric matrix https://en.wikipedia.org/wiki/Skew-
symmetric_matrix
The space of nxn skew-symmetric matrices so(n) 28
ETC
 ̂𝜃
Rodrigues’ formula 𝑒𝜔 = 𝐼+𝜔 ̂ 2 (1 − cos 𝜃)
̂ sin 𝜃 + 𝜔
Rotation definition Euler 31
In context of exponential coordinates 30
Singularity
2.3
Translational motion 𝑝(𝑡) ∈ 𝑅 3 , 𝑡 ∈ [0, 𝑇]
Position vector 𝑝𝑎𝑏 ∈ 𝑅 3
Configuration space of single rigid body = 35
Special Euclidean group 𝑆𝐸(3) = 𝑅 3 × 𝑆𝑂(3)
Transformation SE(3) 𝑞𝑎 = 𝑝𝑎𝑏 + 𝑅𝑎𝑏 𝑞𝑏
3
Matrix representation of q, O and v 36
Augmented matrices
Consequences (4x)
Affine transformation
Transformation in linear form
Also called Homogeneous representation of 𝑔𝑎𝑏 ∈ 𝑆𝐸(3)
General statement 2.23
Matrix multiplication of 𝑔 ∈ 𝑆𝐸(3) 37
Homogeneous representation of 𝑆𝐸(3) = a
group (4x)
Inverse
𝑆𝐸(3) represents rigid body transform. 38
Exponential coordinates in 𝑆𝐸(3) context 39
Generator of Euclidian group se(3): definition?
Is used to make the homogeneous
transformation
Twist Generator of the Euclidean group
Twist coordinates 𝜁̂ = (𝑣, 𝑤)
Vee and wedge operators 41
Derivation??? 42
3.3
Axis as set of points 46
Screw definition
Derivation of twist of screw 46 47

A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry