Robotics Course

LR02.1: From Position Vector to Homogeneous Transformation Matrix

By: Htet Myat Aung

VI-McE-YTU
29th May 2020
 Introduction – Position Vector
Position Vector in 2D Cartesian Space Position Vector in 3D Cartesian Space
y Z

𝐴𝑃
P 𝑧

𝐴𝑃 P
𝐴𝑃 𝐴𝑃 Coordinate Frame A
𝑦
𝐴𝑃
A 𝑥
X
X
A 𝐴𝑃 𝐴𝑃
𝑥 𝑦

Coordinate Frame A
y

In 3D Equation
In 2D Equation 𝐴
𝐴 𝑃𝑥
𝐴 𝑃𝑥
𝑃= 𝐴 𝐴 𝐴
𝑃= 𝑃𝑦
𝑃𝑦
𝐴
𝑃𝑧 2
 Introduction
P
In Robotics, Coordinate Frames can be more than one.

y 𝐶𝑃
𝐴
𝐵
𝑃 y 𝑃
P
B 𝐵
𝐶𝑇
B
𝐴
C
𝐵𝑇 𝐴
𝑃 𝐴
𝐵𝑇 𝐴
𝐶𝑇

A X
X
A
In Mathematical Model
𝐴
𝐵𝑇 ∙ 𝐵𝑃 = 𝐴
𝑃
In Mathematical Model
𝐴
𝐵𝑇 ∙ 𝐵𝐶 𝑇 ∙ 𝐶 𝑃 = 𝐴𝑃
𝐴 𝐶 𝐴
Transform of B relative to A
This is what we want ! 𝐶𝑇 ∙ 𝑃 = 𝑃
Point P with respect to A

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 Orientation or Rotation Matrix
Orientation (Rotation) in 2D Space (or Rotation at Z axis)
𝑦𝐴

𝐴
𝑃𝑥 = 𝐵𝑃𝑥 ∙ cos 𝜃 − 𝐵 𝑃𝑦 ∙ sin 𝜃
𝐴
𝑃𝑦 = 𝐵𝑃𝑥 ∙ sin 𝜃 + 𝐵𝑃𝑦 ∙ cos 𝜃
𝐴
𝑃𝑦 P
𝐴 𝐵
Frame B
𝐵 𝜃
𝑃𝑥 cos 𝜃 − sin 𝜃 𝑃𝑥
𝑃𝑦 𝐴𝑃 𝐵 𝐴 = ∙ 𝐵
𝑃𝑥 𝑃𝑦 sin 𝜃 cos 𝜃 𝑃𝑦

𝐴
𝜃 𝑃 = 𝐵𝐴𝑅 ∙ 𝐵𝑃
𝐴
𝑥𝐴
A 𝑃𝑥

𝐵
𝑃𝑥 Rotational Matrix
Frame A
Given: 𝐵𝑃 = 𝐵
𝑃𝑦

Unknown: 𝐴𝑃 =?
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 Example
𝑦𝐴

𝐴 cos 𝜃 − sin 𝜃 cos 45° − sin 45°

𝐵𝑅 = =
sin 𝜃 cos 𝜃 sin 45° cos 45°
B
𝐴 0.7 −0.7
𝐵𝑅 =
𝐴
𝑃𝑦 0.7 0.7
𝐵
P
𝑃𝑦 1.4 𝐵
𝑃𝑥 0.7 −0.7 2 1.4
𝐴𝑃 𝐴
𝜃 𝑃 = 𝐵𝐴𝑅 ∙ 𝐵𝑃 = ∙ =
𝜃 0.7 0.7 0 1.4
𝑥𝐴
A 1.4
𝐴
𝐴
𝑃𝑥 𝑃𝑥 1.4
𝐴 =
𝑃𝑦 1.4
2
Given: 𝐵𝑃 = , 𝜃 = 45°
0

Unknown: 𝐴𝑃 =?

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 Some Important Notes
● In 2D Space, all rotations are around Z axis.
● Determinant of Rotation is always 1.

cos 𝜃 −sin 𝜃
○ det 𝐵𝐴𝑅 = = cos 𝜃 cos 𝜃 − − sin 𝜃 sin 𝜃 = 1
sin 𝜃 cos 𝜃

● 𝐴
Orthogonal Matrix : 𝐵 𝑅= 𝐵𝐴𝑅−1= 𝐵𝐴𝑅𝑇 .

● Rotation Matrices are always Orthonormal.

○ 𝑅𝑇 𝑅 = 𝑅𝑅𝑇 = 𝐼𝑚𝑥𝑛
○ Dot Product of Every Row and Column is 0.

○ Norm of Every Row and Column is 1.

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Prove: Norm of Every Row and Column is 1. (knowledge)

Taking as Infinity Norm;

𝑛

𝑅 ∞
= max ෍ |𝑟𝑖𝑗 | for 𝑅𝑚𝑥𝑛
1≤𝑖≤𝑚
𝑗=1
𝑅 ∞
= max σ2𝑗=1 |𝑟𝑖𝑗 | = max |cos 𝜃| + − sin 𝜃| , |sin 𝜃| + |cos 𝜃
1≤𝑖≤2

Let’s say 𝜃 = 90°,

= max |0 | + −1|, |1 | + |0 = max 1,1 = 1

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 Frame Description

In Robotics Frame => one Position vector and a Rotation Matrix.

Note : Frame is a coordinate system , giving a position vector which locates its {EE}
origin (Arrow Head) relative to embedding frame (Tail).

𝐴
Vector 𝑃 locates the origin of End Effector Frame {EE}, 𝐴𝑃𝐸𝐸(𝑂𝑅𝐺) 𝐴
𝑃

{A}

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 Frame Description

{A}
{C}

Frame {A} and Frame {B} => Relative to Universal

Coordinate Frame {U} , Frame {C} is relative to Frame
{A} (not Vice Versa**)
{B}
{U}

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 Translated Frames
Frame {A} and Frame {B} => same orientation => {B} Only
differs from {A} by translation => given by 𝐴𝑃𝐵(𝑂𝑅𝐺) => a
vector that locates the origin of {B} relative to {A}. 𝑃

In 3 Dimensional Plane,

𝐵
𝐴 𝐴 𝐴 𝑃
𝑃= 𝑃𝐵(𝑂𝑅𝐺) + 𝐵𝑃 𝑃

{B}

Mapping a vector from one frame to another. 𝐴

𝑃𝐵(𝑂𝑅𝐺)
{A}

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 Translated Frames
Frame {A} and Frame {B} => same orientation => {B} Only
differs from {A} by translation => given by 𝐴𝑃𝐵(𝑂𝑅𝐺) => a
vector that locates the origin of {B} relative to {A}.

𝐵 𝑃
In 2 Dimensional Plane 𝑃

{B}
𝐴
𝑃𝐵(𝑌𝑂𝑅𝐺) 𝐴
𝑃
𝐴
𝑃 = 𝐴𝑃𝐵(𝑂𝑅𝐺) + 𝐵𝑃
𝐴
𝐴 𝑃𝐵(𝑋𝑂𝑅𝐺)
𝑃= 𝐴 + 𝐵𝑃
𝑃𝐵(𝑌𝑂𝑅𝐺) 𝐴
{A} 𝑃𝐵(𝑋𝑂𝑅𝐺)
𝐴 𝑡𝑥
𝑃= + 𝐵𝑃
𝑡𝑦
𝑡𝑥 and 𝑡𝑦 mean translated distance of {A}.
Mapping a vector from one frame to another.

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 Translations + Rotations
In 2 Dimensional Plane
𝑃
𝐴
𝑃 = 𝐴𝑃𝐵(𝑂𝑅𝐺) + 𝐵𝐴𝑅 ∙ 𝐵𝑃 𝐵
𝐴 𝑃
𝑃

𝐴
𝐴
𝑃𝐵(𝑋𝑂𝑅𝐺 ) 𝜃
𝑃= 𝐴 + 𝐵𝐴𝑅 ∙ 𝐵𝑃
𝑃𝐵(𝑌𝑂𝑅𝐺 ) 𝐴
𝑃𝐵(𝑌𝑂𝑅𝐺) {B}

Known as General Transformation Mapping.

Note : A complicated Calculations can be occur if there is 𝐴
{A} 𝑃𝐵(𝑋𝑂𝑅𝐺)
more than 2 coordinate frames.

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 Homogeneous Transformation in 2D Frame
𝐴
𝑃 = 𝐵𝐴𝑇 ∙ 𝐵𝑃 𝑃

𝐴 𝐵
𝐴 𝐴 𝐴 𝐵 𝑃 𝑃
𝑃 = 𝐵𝑅 𝑃𝐵(𝑂𝑅𝐺) 𝑃
1 0 0 1 1 𝜃
𝐴 {B}
𝑃𝐵(𝑌𝑂𝑅𝐺)
𝐴 𝐴 𝐴
𝑃𝐵(𝑂𝑅𝐺)
𝐴 𝐵𝑅 𝑃𝐵(𝑂𝑅𝐺)
𝐵𝑇 =
0 0 1
{A} 𝐴
𝑃𝐵(𝑋𝑂𝑅𝐺)
Note:
• “1” is added as last element of 2x1 vectors
• a row [0 0 1] is added as the last row of 3x3
Matrix.

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 Example: Frame Rotating around Z axis
Given : Frame {B} : rotated relative to frame {A} about Z by 30°,
Translated 10 units in 𝑋𝐴 and 5 units in 𝑌𝐴 𝑃
𝐵 𝑇
𝑃 = 3.0 7.0 0.0 {B}
𝐴 𝑌𝐴 𝐵
Unknown : 𝑃 𝑃
𝐴 𝐴
𝐴 𝑃
𝐴 𝐵𝑅 𝑃𝐵(𝑂𝑅𝐺) 𝜃
Answer : 𝐵𝑇 = , Assumed as 2 Dimensional Frame 5
0 0 1
cos 𝜃 −sin 𝜃 10
𝐴 sin 𝜃 cos 𝜃 𝐴
𝐵 𝑇 = 5 , 𝜃 = 30° 𝑃𝐵(𝑂𝑅𝐺)
0 0 1
3.0 3.0 𝑋𝐴
3.0 {A} 10
𝐵
𝑃 = 7.0 = = 7.0 (“1” is added as last element of 2x1 vectors)
7.0
0.0 1
𝐴
𝑃𝑥
𝐴
𝐴
𝑃 = 𝐵𝐴𝑇 ∙ 𝐵𝑃 = 𝑃𝑦
𝐴
𝑃𝑧
1
This is what we want

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 3 Dimensional Homogeneous Transformation
𝐴
𝑃= 𝐴
𝑁𝑡ℎ𝑇 ∙ 𝑁𝑡ℎ𝑃

𝐴
𝐴
𝑃 = 𝑁𝑡ℎ𝐴𝑅 𝑃𝑁𝑡ℎ(𝑂𝑅𝐺) 𝑁𝑡ℎ
𝑃
𝑃
1 0 0 0 1 1

𝑁𝑡ℎ
𝑃𝑥 𝑃
𝐴 𝐴
𝑁𝑡ℎ𝑅3𝑥3 𝑃𝑁𝑡ℎ 𝑂𝑅𝐺 𝑃 𝐴
𝑃
𝐴
𝑁𝑡ℎ𝑇 = 3𝑥1
, 𝑁𝑡ℎ𝑃 = 𝑦
0 0 01𝑥3 11𝑥1 𝑃𝑧
1 {Nth}

In 3D => Rotation can be around any Arbitrary Axis. 𝐴

𝑁𝑡ℎ𝑇
In 2D => Rotation only around Z Axis. {A}

Rotation Matrices have different form depending on

which axis we are rotating around.

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 3 Dimensional Homogeneous Transformation

Rotation around X axis Rotation around Y axis Rotation around Z axis

𝑍𝐴 𝑍𝐴 𝑍𝐴
𝑍𝐴 ′

𝜃 𝑍𝐴 ′ 𝜃
𝑌𝐴 ′
𝑌𝐴 ′
𝑌𝐴 𝑌𝐴 𝜃
𝑌𝐴

𝑋𝐴 𝑋𝐴
𝑋𝐴
𝑋𝐴 ′ 𝑋𝐴 ′

1 0 0 cos 𝜃 0 sin 𝜃 cos 𝜃 −sin 𝜃 0

𝑅(𝜃)𝑋 = 0 cos 𝜃 − sin 𝜃 𝑅(𝜃)𝑌 = 0 1 0 𝑅(𝜃)𝑍 = sin 𝜃 cos 𝜃 0
0 sin 𝜃 cos 𝜃 −sin 𝜃 0 cos 𝜃 0 0 1

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 Transformation Equations

{𝐶}
{𝐴}
{U} -> Universal Frame

𝑈 𝐵 {𝐷}
𝑈 𝐵𝑇 ∙ 𝐷𝑇
𝐷𝑇 = ൝𝑈 𝐴 𝐶
𝐴𝑇 ∙ 𝐶 𝑇 ∙ 𝐷 𝑇
𝑈𝑇
𝐷

𝐵 𝐷𝑇
𝐷𝑇 = 𝑈𝐵𝑇 −1 ∙ 𝑈𝐴𝑇 ∙ 𝐴𝐶 𝑇 ∙ 𝐷𝐶 𝑇 , ( 𝑈𝐵𝑇 −1 𝑚𝑒𝑎𝑛𝑠 𝑈𝐵𝑇 ) {𝑈}
{𝐵}
𝐵

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 Transformation Equations

{𝐸𝐸}

𝐸𝐸
𝐶𝑇
{𝐶}

𝐸𝐸
How do we find 𝐶𝑇 =? {𝐷}

{𝐵}
𝐸𝐸 𝐵 −1
Ans: 𝐶 𝑇 = 𝐸𝐸 𝑇 ∙ 𝐷𝐵𝑇 ∙ 𝐷𝐶 𝑇

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 Exercises
1. The following frame definitions are given as known:
0.866 −0.5 0.0 11.0
𝑈 0.5 0.866 0.0 −1
𝐴𝑇 = ,
0.0 0.0 1 8.0
0 0 0 1
1 0.0 0.0 0.0
𝐵 0.0 0.866 −0.50 10.0
𝐴𝑇 = ,
0.0 0.5 0.866 −20.0
0 0 0 1
0.866 −0.5 0.0 −3.0
𝐶 0.433 0.750 −5.0 −3.0
𝑈𝑇 = ,
0.250 0.433 0.866 3.0
0 0 0 1

Draw a frame diagram (Like that of slide number 17) to show their arrangement qualitatively, and solve for 𝑩𝑪𝑻.

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 Exercises
2. Referring to the figure below, give the values of 𝐵𝐴𝑇, 𝐴𝐶𝑇, 𝐵𝐶𝑇𝑎𝑛𝑑 𝐴𝐶𝑇.

36.9°

𝑌𝐶
𝑍𝐵 𝑋𝐵
𝑍𝐴

𝑌𝐵 𝑋𝐶 𝑍𝐶
𝑋𝐴
𝑌𝐴 2

3
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Next Course Schedule
Next Course : 1st June 2020 - Time 3 PM to 4 PM ( MMTime ) @ Google Meet

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