Location of any point in the world or universe

reference frame {A}:

position vector
 Frame rotation
Rotational mapping

The original vector P is not changed in space. Rather, we compute

a new description of the vector relative to another frame.
rotation matrix
 Frame rotation
Rotate frame {B} relative to frame {A} about Z by 30 degrees. Find the operator matrix and
the position vector [0 2 0] in rotated frame of reference {A}.
 Frame rotation
Rotate frame {B} relative to frame {A} about Z by 30 degrees. Find the operator matrix and
the position vector [0 2 0] in rotated frame of reference {A}.
Frame translation

Translation mapping
Frame: A set of four vectors carrying position and orientation information.
It is described by: = {rotation matrix, position vector of frame origin}

A frame is assigned at each of the joints.

Note: Frame is a coordinate system where, in addition to the

orientation, we give a position vector which locates its origin
relative to some other embedding frame (universal/world/space).
 Frame transformation

Frame transformation = frame rotation + frame translation

is a homogeneous transformation matrix

Homogeneous transformation matrix
 Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {B} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].
 Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {A} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].
 Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {A} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].

=?
Inverting a transformation