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Transformations
Introduction
• We know how to represent both positions and
orientations.
• We now combine these two concepts to define
homogeneous transformations.
2D frame Rotation followed by Translation
• We can obtain coordinates for the vector ଵ by applying the
rotation matrix to the coordinates that represent ଶ in
frame o1x1y1,
• Definition: A transformation of the form given in the above
equation is said to define a rigid motion if R is orthogonal
• No part of the derivation above was dependent on the
fact that we used a two‐dimensional space.
• This same derivation can be applied in three
dimensions to obtain the following rule for coordinate
transformations.
ଶ
Since the relationship between and is also a rigid
motion,
Comparing the two equations,
Comparing this with the matrix identity,
Where, 0 denotes the row vector (0,0,0)
shows that the rigid motions can be represented by
the set of matrices of the form
Transformation matrices of this form are called
homogeneous transformations
In order to represent this transformation by a matrix
multiplication, one needs to augment the vectors and ଶ
by the addition of a fourth component of 1 as follows.
for translation and rotation about the x, y, z‐axes, respectively
• The most general homogeneous transformation
takes the form
Example Problem:
Find the homogeneous transformation matrix H that
represents a rotation of α degrees about the current x‐axis
followed by a translation of b units along the current x‐axis,
followed by a translation of d units along the current z‐axis,
followed by a rotation of θ degrees about the current z‐axis
Question 1
Find the position of p(13,8,17) with respect to the initial
frame if the initial frame underwent a series of rigid motions
in the following sequence to reach the final position:
rotation of ‐30 degrees about the current x‐axis
followed by a translation of 6 units along the current z‐axis,
followed by a rotation of 60 degrees about the current y‐axis,
followed by a rotation of 90 degrees about the current x‐axis
followed by a translation of 4 units along the current‐y axis
followed by a translation of 9 units along the current z‐axis