Robotics Course

LR02.2: 3 Dimensional Rotation and Translation

By: Htet Myat Aung

VI-McE-YTU
29th May 2020
 Introduction – 3 Dimensional Rotation
Rotation in 3D Cartesian Space
𝑧1

𝑧0
B
𝑧0 In 3D Equation

𝑦1 The Projection of
𝑋1 𝑌1 𝑍1
On:
𝑋0
A 𝑦0 A 𝑦0 𝐴
𝐵𝑅 = 𝑌0
𝑍0

𝑥0 𝑥0
𝑥1

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 Recall: Fixed Axis Rotation Methods

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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 3 Dimensional Rotation

Rotation around Z axis

𝑧1
B Assumed => All these axes have Length of 1.
𝑧0

cos 𝜃 −sin 𝜃 0
0𝑅 = sin 𝜃 cos 𝜃 0
1
𝑦1 0 0 1
Length of 𝑍1 is taking
as “Unit One” and
A 𝑦0 Projection of 𝑋1 𝑎𝑛𝑑 𝑌1 projected on 𝑍0 axis.
on 𝑍0 is “Zero” as it is
perpendicular to frame

𝑥0
𝑥1

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 Multiple Axes Rotation or Euler Angles
Step 1 Step 2

𝑧0 𝑧0 𝑧0
𝑧1
𝑧1

𝑧1
𝑦1 𝑦1

𝑦1
𝑦0 𝑦0 𝑦0

𝑥0 𝑥1 𝑥0 𝑥1 𝑥0 𝑥1

Rotation at ??? Axis/Axes Rotation at Z axis Rotation at X axis

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 Multiple Axes Rotation

𝑧0
𝑧1
cos 𝜃 −sin 𝜃 0 1 0 0
0𝑅 = sin 𝜃 cos 𝜃 0 ∙ 0 cos 𝜃 −sin 𝜃
𝑦1 1
0 0 1 0 sin 𝜃 cos 𝜃

𝑦0
Rotation at Z axis Rotation at X axis

𝑥0 𝑥1

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 Manipulators
Description of Revolute Joints in Practical Robotics

Motor Motor with Links

𝑎2
Rotor

𝜃0
𝑎1
Revolute Joint

Stator
𝒂𝟏 , 𝒂𝟐 𝑎𝑟𝑒 𝑡ℎ𝑒 𝐿𝑖𝑛𝑘𝑠.

For 𝜽𝟎 , Right Hand Rule is used.(CCW)

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 Manipulators
𝜃1

𝜃1
𝜃0
𝜃0
𝜃0 𝑑

2 Rotations Robot Arm One Rotation: One Prismatic Joint Robot Arm 2 Rotations Robot Arm

Manipulator = Joints + Links

Parts that are Parts that connect

allowed motions Joints Together
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 Important Notes

1. Base Frame represents the WORLD or GROUND that is attached to robot.

2. Each Frame on Each Joints

3. One Frame on End Effector

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 2 DoF Robot Arm Rotation Behaviors
𝑧2
𝑧1 𝑦2
𝑦2
𝑎4 𝑥2
𝑥2
𝜃1 𝑧1 𝑥1
𝜃1 𝑧1 𝑦1 𝑎3
𝑦1
𝑎2
𝑥1

𝜃0
𝜃0
𝑧0
𝑎1 𝑧0
𝑦0
𝑦0
𝑥0
𝑥0

0
2𝑅 = 01𝑅 12𝑅 =?
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 2 DoF Robot Arm
Step 1 : 𝜃0 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛

𝑧2
𝑥2
1 2
𝑧2
𝑦2 𝑦2
𝑎4
𝑥2
1 0 0 cos 𝜃0 −sin 𝜃0 0
0
1𝑅 = 0 1 0 ∙ sin 𝜃0 cos 𝜃0 0
𝜃1 𝑧1 𝑦1 𝑎3 𝜃1 𝑧1 𝑥1 0 0 1 0 0 1
𝑎2
𝑥1 𝑦1

𝜃0
𝑧0
𝑎1
𝑦0 𝜃0 Frame Rotation Rotation around
𝑧0 Behaviors 𝑍0(Frame 0)
𝑥0 before joint variables
𝑦0
are started to move
𝑥0 (𝜃 = 0°).
-Always compared
with Original Stage 1 . 11
 2 DoF Robot Arm
Step 1 : 𝑊ℎ𝑦 𝐼𝑑𝑒𝑛𝑡𝑖𝑡𝑦 𝑀𝑎𝑡𝑟𝑖𝑥

1
𝑧2
𝑦2
𝑎4
𝑥2
1 0 0
0
1𝑅 = 0 1 0
𝜃1 𝑧1 𝑦1 𝑎3 0 0 1
𝑎2
𝑥1

𝜃0
𝑧0
𝑎1
𝑦0 Identifying Frame 1 rotation relative to Frame 0 when
the Joint variables are Zero.
𝑥0 And there is no frame rotation in the original stage
too in this example.
Always compare with Original Stage 1 Frame !

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 2 DoF Robot Arm
Step 2 : 𝜃1 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛
𝑧2
𝑥2
𝑧2
𝑦2 𝑦2

𝑥2
1 0 0 cos 𝜃1 −sin 𝜃1 0
𝜃1 𝑧1 𝜃1 𝑧1 1
𝑥1 𝑦1
𝑥1 2𝑅 = 0 1 0 ∙ sin 𝜃1 cos 𝜃1 0
𝑦1
0 0 1 0 0 1
0
2𝑅 = ? ∙ ?
𝜃0 𝜃0
𝑧0 𝑧0
𝑦0 𝑦0

𝑥0 𝑥0

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 Exercise

𝑦1
𝑦2
𝜃1 𝑦3
𝑥1
𝑥2
𝜃2
𝑧1 𝑥3
𝑧2 0
𝑧3 3𝑅 = 01𝑅 ∙ 12𝑅 ∙ 23𝑅 =?
𝜃0
𝑧0
𝑦0

𝑥0

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 Exercise
0
3𝑅 = 01𝑅 ∙ 12𝑅 ∙ 23𝑅 =?
𝑦1
𝑦2
Answer:
𝜃1 𝑦3
𝑥1
1 0 0 𝑐𝑜𝑠(𝜃0 ) −sin(𝜃0 ) 0
0
𝑥2 1𝑅 = 0 𝑐𝑜𝑠(90) −sin(90) ∙ sin(𝜃0 ) 𝑐𝑜𝑠(𝜃0 ) 0
𝜃2 0 sin(90) cos(90) 0 0 1
𝑧1 𝑥3
𝑧2
𝜃0 𝑧3 1 0 0 𝑐𝑜𝑠(𝜃1 ) −sin(𝜃1 ) 0
1
𝑧0 2𝑅 = 0 1 0 ∙ sin(𝜃1 ) 𝑐𝑜𝑠(𝜃1 ) 0
𝑦0 0 0 1 0 0 1

1 0 0 𝑐𝑜𝑠(𝜃2 ) −sin(𝜃2 ) 0
2
𝑥0 3𝑅 = 0 1 0 ∙ sin(𝜃2 ) 𝑐𝑜𝑠(𝜃2 ) 0
0 0 1 0 0 1
Alternative Calculation using
Fixed Frame Rotation Method
#Credit

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 4 Rules to manipulate D-H Parameters

Rule 1 . Z axis must be axis of Rotation for Revolute Joint, or direction of motion for Prismatic Joint.

𝑧1
𝜃0
𝜃1
𝜃0 𝑑
𝑧0 𝑧0
𝑧1

2 Rotations Robot Arm One Rotation: One Prismatic Joint Robot Arm

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 4 Rules to manipulate D-H Parameters

Rule 2 . X axis must be perpendicular both to its own Z axis and Z axis of Frame before it.

𝜃0

𝜃1 𝑥1
𝑧0

𝑧1

𝑥0

2 Rotations Robot Arm

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 4 Rules to manipulate D-H Parameters

Rule 3 . All frames must follow “The Right Hand Rule”.

Thumb Direction
𝑧0

𝑦0 Palm Direction

𝑥0
Finger Tips Direction

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 4 Rules to manipulate D-H Parameters
In this case, the frame 1 must be moved from its
center that will intercept with 𝑍𝑁−1.
Rule 4 . Each X axis must intersect the Z axis of Frame before it. Distance 𝑎1 will be always took the measurement
from original frame (𝑍1 ) distance.

𝑥1
𝑥1 ′
𝑧1 ′ 𝑧1
𝑎1
𝜃0

𝜃1 𝑥1 𝑑
𝜃0
𝑧0 𝑧0
𝑧1
𝑥0
𝑥0

2 Rotations Robot Arm One Rotation: One Prismatic Joint Robot Arm

Special Case
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 Rotation Exercises
0
3𝑅 = 01𝑅 ∙ 12𝑅 ∙ 23𝑅 =?
1

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Rotation Exercises

3 Cartesian Manipulator

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 Recall: Translation
X axis Translation
𝑧0

𝑎
𝑦0 0
𝑃1(𝑂𝑅𝐺) = 0
0

𝑎 𝑥0

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 Recall: Translation
Y axis Translation

𝑧0
0
0
𝑃1(𝑂𝑅𝐺) = 𝑏
0
𝑏
𝑦0

𝑥0

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 Recall: Translation
Z axis Translation

0
0
𝑧0 𝑃1(𝑂𝑅𝐺) = 0
𝑐

𝑐 𝑦0

𝑥0
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 3 Dimensional Translation

Frame Translation in Joint Variables 𝜽 = 𝟎°

𝑧2
𝑦2
𝑎4
𝑎2
0 For Frame 1
𝑥2 𝑃1(𝑂𝑅𝐺) = 0
and 2
𝑎1
𝜃1 𝑧1 𝑦1 𝑎3
𝑎2
𝑥1
𝑎4
1 For Frame 1
𝜃0 𝑃2(𝑂𝑅𝐺) = 0
𝑧0 and 2
𝑎1 𝑎3
𝑦0

𝑥0

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 Frame Translation in Joint Variables 𝜽 = 𝟗𝟎°

𝑩𝒆𝒇𝒐𝒓𝒆 𝑹𝒐𝒕𝒂𝒕𝒊𝒐𝒏 𝟗𝟎° 𝑹𝒐𝒕𝒂𝒕𝒊𝒐𝒏 𝒂𝒕 𝜽𝟎 𝑻𝒐𝒑 𝑫𝒐𝒘𝒏 𝑽𝒊𝒆𝒘

𝑧2 𝑥2
𝑥2
𝑧2
𝑦2
𝑦2 𝑦2
𝑎4
𝑥2
𝑥1
𝜃1 𝑧1 𝑦1 𝑎3 𝑥1
𝜃1 𝑧1
𝑎2
𝑥1 𝑦1 𝑦1
𝜃0
𝑧0
𝑎1
𝑦0 𝑦0
𝜃0
𝑥0 𝑧0
𝑦0
𝑥0
𝑥0

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Frame Translation in Joint Variables 𝜽 = 𝟗𝟎°

𝑻𝒐𝒑 𝑫𝒐𝒘𝒏 𝑽𝒊𝒆𝒘

𝑥2

𝑦2

𝑥1

0
0
𝑦1 𝑃1(𝑂𝑅𝐺) = 𝑎2
𝑎1

𝑎2 𝑦0

𝑥0

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 Frame Translation in Joint Variables 𝜽 = 𝟒𝟓°

𝑻𝒐𝒑 𝑫𝒐𝒘𝒏 𝑽𝒊𝒆𝒘

𝑦2 𝑥2 𝑭𝒓𝒂𝒎𝒆 𝟎 𝒂𝒏𝒅 𝑭𝒓𝒂𝒎𝒆 𝟏

𝑦1 𝑥1 𝑎2 cos 𝜽𝟎
0
𝑃1(𝑂𝑅𝐺) = 𝑎2 sin 𝜽𝟎
𝑎1
𝑎2

𝑦0
𝜽𝟎
𝑥0

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 Frame Translation in Joint Variables 𝜽 = 𝟒𝟓°

𝑻𝒐𝒑 𝑫𝒐𝒘𝒏 𝑽𝒊𝒆𝒘

𝑭𝒓𝒂𝒎𝒆 𝟏 𝒂𝒏𝒅 𝑭𝒓𝒂𝒎𝒆 𝟐

𝑥2

𝑎4
𝜽𝟏 𝑎4 cos 𝜽𝟏
𝑥1 1
𝑃2(𝑂𝑅𝐺) = 𝑎4 sin 𝜽𝟏
𝑦2 𝑎3
𝑦1

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 Frame Translation in Joint Variables 𝜽 = 𝟒𝟓°

𝑻𝒐𝒑 𝑫𝒐𝒘𝒏 𝑽𝒊𝒆𝒘

𝑥2

𝑎4
𝜽𝟏 𝑥1 𝑭𝒓𝒐𝒎 𝑭𝒓𝒂𝒎𝒆 𝟎 𝒕𝒐 𝑭𝒓𝒂𝒎𝒆 𝟐

𝑦2
𝑦1
0
𝑃2(𝑂𝑅𝐺) =? ? ?
𝑦0
𝜽𝟎
0
𝑃2(𝑂𝑅𝐺) ≠ 0𝑃1(𝑂𝑅𝐺) ∙ 1𝑃2(𝑂𝑅𝐺)
𝑥0
𝑎2
0 0
𝑃2(𝑂𝑅𝐺) ≠ 𝑃1 𝑂𝑅𝐺 + 1𝑃2(𝑂𝑅𝐺)

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 Examples

Cartesian Manipulator

0
0
𝑃1(𝑂𝑅𝐺) = 0
𝑥2 𝑎1 + 𝑑1
𝑥1 𝑦2
𝑑3
𝑦0 𝑎2
𝑧1 𝑎3
𝑥0 𝑧2
𝑑2 0
1
𝑃2(𝑂𝑅𝐺) = 0
𝑧0 𝑦1 𝑥3 𝑎2 + 𝑑2
𝑎1 𝑦3

𝑑1 𝑧3
0
2
𝑃3(𝑂𝑅𝐺) = 0
𝑎3 + 𝑑3

31
Translation Exercise

32
 Translation Exercise

𝑦1 𝑦2 0
𝑎2 0
𝑦3 𝑃1(𝑂𝑅𝐺) = 0
𝑥1 𝑎3 𝑎1
𝑧1 𝑥2
𝑥3
𝑧2
𝑧3 𝑎2 cos(𝜃1)
𝑎1 1
𝑃2(𝑂𝑅𝐺) = 𝑎2 𝑠𝑖𝑛(𝜃1)
𝑧0
𝑦0 0

𝑥0
𝑎3 cos(𝜃1)
2
𝑃3(𝑂𝑅𝐺) = 𝑎3 𝑠𝑖𝑛(𝜃1)
0
33
 Translation Exercise

0
0
𝑦2 𝑥2 𝑃1(𝑂𝑅𝐺) = 0
𝑎1
𝑎2

𝑦1 𝑎2 cos(𝜃1)
𝜽𝟏 1
𝑃2(𝑂𝑅𝐺) = 𝑎2 𝑠𝑖𝑛(𝜃1)
𝑥1 0

𝑎2 cos(𝜃1)
2
𝑃3(𝑂𝑅𝐺) = 𝑎2 𝑠𝑖𝑛(𝜃1)
0
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 0
3𝑅 = 01𝑅 ∙ 12𝑅 ∙ 23𝑅 =?
𝑥2 ′

𝑥2 𝑥3
𝑦1 1 0 0 cos 𝜃0 −sin 𝜃0 0
0
1𝑅 = 0 cos 90 − sin 90 ∙ sin 𝜃0 cos 𝜃0 0
𝑥1 𝑧2 𝑧3 0 sin 90 cos 90 0 0 1
𝑧1

𝑦2 ′ 𝑦2 𝑦3
𝜃0 0 0 1 cos 𝜃1 0 sin 𝜃1
1 0 1 0
𝑧0 2𝑅 = 1 0 0 ∙
𝑦0
0 1 0 −sin 𝜃1 0 cos 𝜃1

𝑥0
1 0 0 1 0 0
2
3𝑅 = 0 1 0 ∙ 0 1 0
0 0 1 0 0 1

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Next Course Schedule
Next Course : 5th June 2020 - Time 3 PM to 4 PM ( MMTime ) @ Google Meet

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