Mathematics for 6Dof UsersPreface This guide is designed to serve as a reference on how to work with the angle information each 6dof device of a Leica Laser Tracker provides as part of the measurement. In general rotations can be specified in very different ways, e.g. using angle clockwise or counterclockwise, rotating around x, then y, then z or the other way round or even first z, then Xand then z again... all these ways are possible and valid, Adding transformations further Questions can arise like transforming from system A to B or vice versa, transforming points or axes, and so on. And if allthis is understood there might still be the issue on how to use these rotation and transformation data ¢.g. to calculate a virtual tip or to correct a robot position. In this document all those topics covered in the form ofa reference guide. First of all definitions of rotation angles and matrices are explained and the definition and salculation of Roll, Pitch and Yaw angies and of Leica Angles are explained. Then the handling of transformation matrices is eddressed to including the definition of transformation matrices obtained from commen measvrement software. And finally transformation matrices are used in ics as to define virtual tips, including a graphical step by step example to provice an intuitive access to the translations. and rotations used to get the desired output or ‘o corrext robot positions based on T-Mac measurements, Table of Contents Preface. Table of Contents. Rotation Matrices... Important characteristics of rotation matrices (denoted as R): Matrix Definition. a Roll, Pitch and Yaw Convention .n.. Leica Angle Convention.. Transformations .. Standard Formulas... Formula with Homogeneous Matrix: Inverse Transformation: ‘Transformation Difference. ane ‘Transformation Matrices in Measurement Software. ‘Transformation Matrices with Leica Angles. Definition Graphical Interpretat Step by Step Explanation with Pictures (Example with T-Mac) Virtual Tips Definition of a Virtual Tip in emScon wu. = 4 How to Calculate Virtual Tip Values based on Transformation Matrices for T-Mac and for the Virtual Tip a : 15 Using a T-Mac to Correct a Robot Position. 6 Mathematics nsnnnenne — Explanation at the example of the MAP-Process. Kupferer ‘Mathematics for 6Dof Users v1.1.en Page 2 of 18 | lem mR NANA NEN ANNELeica Angle Convention cosy -siny 0 cosB 0 sinf | Rot, =|siny cosy 0), Rot,={ 9 1 0 |, Rol,=|0 cose ~sing \ 0 0 1 sin 0 cos, 0 sina all (Active rotation matrices) Calculation of rotation matrix from Leiea Augles RM = Rot, Rot Rot, cosy -cos 8 =siny cos 8 sin B ] clcosysin Bsinar+sinyeosa ~sinasin Peiny +eosacosy ~cas sing Tnysina -cosysin Boose cosysinar+sinsin Beosa cos poosa | Calculation of Leica angles from rotation matrix paaand rss feo) (meget | — Tint rosy 08 ronan gig) cos’ cos 2. (-see= -scant?) i) arm aan cos 5) = sina = arctan = = arctan = hy ‘cost Kupferer ‘Mathematies for 6Dof Users vI.1.0en, Page 6 of 18Singularity 1: it p=F then ° ° 1 im (g =X) =| cox(y)sin(a)+sin(y)eos(a) ~sin(a)sin(y) + cox(a)eos(7) 0) sin(y)sin(a)—cos(y)cos(a) cos(y)sinfa) + sin(y)cos(a) 0} ° o 1 =| sina+7) cosla+7) 0 scos(a+y) sina+7) 0) Seta=0 a) Singularity 2: If p= ° ° 1) = cosy) sina) +sinfy)eosla)_sin(a)sin(y)+e0x(a)eos(y) 0 sin(y)sinla) + c0s(7)cos(a) _evs(y)sin(a)—sin(y)eos(a) 0} ° o a wsin(a—y) coxla7) 0 coma-7) sinfa~y) 0 Kupferer Mathematics for 6Dof Users v1.1.0en