Industrial Robot - Nguyen, Quoc Chi - C3

Mechatronics Dept.
, Dynamics & Control Group, 207701-Industrial Robot
Spatial descriptions and

transformations
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-1

Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Outline
- Learn to represent position and orientation
- Be able to transform between coordinate
systems.
- Use frames and homogeneous coordinates

- Objectlocation in space specified by location of a selected point

on it and orientation of the object.
-A coordinate system
(frame) is attached rigidly
to the object. Then
proceed to describe the
position and orientation of
this frame with respect to
some reference coordinate
system.

COORDINATES ON ROBOT

ASSIGN COORDINATE ON THE ROBOT SYSTEMS


Description of a position
Once a coordinate system is established, any point in the
universe can be located with a 3  1 position vector.

Descriptions of positions

Description of a orientation
2D case
What is the relation between OPA and OPB?

3D case
What is the matrix descript the
relation between two frame?

Example of description of a orientation
Inertial Measurement Unit in Aircraft

- The complete location of the hand is
still not specified until its orientation
is also given.
- A coordinate system (B) has been
attached to the body in a known way.
A description of {B} relative to (A)
now suffices to give the orientation of
the body.

Note: Rotation matrix are simply the projections of a frame onto

another frame.
Projections of {B}
onto {A}:
Projections of {A}
onto {B}:

Example

Note: In a rotation matrix, rows / columns are

orthogonal unit vectors.

Example: Determine missing elements in the following rotation matrix.
From properties of rotation matrix:


Finite and infinitesimal translations
Finite Δx,Δy,Δz or infinitesimal dx, dy, dz translations (linear displacements) always commute

Finite rotations do not commute

Description of a frame
A 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.

Mappings from frame to frame

- It is concerned how to express the same quantity in terms of various
reference coordinate systems.
- Mappings involving translated frames

Mappings involving rotated frames

Rotation matrix

Mappings involving general frames


Generally, it is desired to think of a mapping from one frame to

another as an operator in matrix form.
    
 A P  A
R A
PBORG   B P 
  B
    
    
 1  0 0 0 1  1 
(4  1) (4  4) (4  1)
The 4 x 4 matrix above is called a homogeneous transform.

Operators: translation, rotation, & transformation

The same mathematical forms used to map points between frames can
also be interpreted as operators that translate points, rotate vectors,
or do both.
Translational operators
A translation moves a point in
space a finite distance along a
given vector direction.


To write this translation operation as a matrix operator:
The DQ operator may be thought of as

a homogeneous transform of a special
simple form.

Rotational operators
Another interpretation of a rotation matrix is as a rotational operator
that operates on a vector AP1 and changes that vector to a new vector,
AP , by means of a rotation, R.
2



Transformation operators
A frame has another interpretation as a transformation operator.
In this interpretation, only one coordinate system is involved,
and so the symbol T is used without sub- or superscripts. The
operator T rotates and translates a vector AP1 to compute a new
vector AP2.

Summary of interpretations
As a general tool to represent frames, a

homogeneous transform has been  
introduced. That is a 4 x 4 matrix  A
R A
PBORG 
containing orientation and position  B
information.
 
 
0 0 0 1 
There are three interpretations of this
homogeneous transform:
• A description of a frame - describes the frame {B} relative to the

frame {A}:
• A transform mapping:
• A transform operator:

Transformation arithmetic
Compound transformations
 
 A
R CBR A B
R P  A
P 
CT 
A  B B CORG BORG 
 
 
0 0 0 1 
Inverting a transform  
 A
R A
PBORG 
BT 
A  B
 
 
0 0 0 1 
We have:

 
 A
RT  BART A PBORG 
AT 
B  B
 
 
0 0 0 1 

Determine:
Solution:

Transformation operators
A frame has another interpretation as a transformation
operator. In this interpretation, only one coordinate
system is involved, and so the symbol T is used without
sub- or superscripts. The operator T rotates and
translates a vector AP1 to compute a new vector AP2.

Transform equations

More on representation of orientation
For a rotation matrix R

9 elements
6 constraints
R is conveniently specified with three parameters


Example: Consider two rotations, one about X by 300, and one
about Z by 300.

Note:

Roll-Pitch-Yaw (X - Y - Z fixed angles)

Start with the frame {B} coincident with a known reference
frame {A}.
• Rotate {B} first about X̂ Aby an angle  (roll)

• Then, rotate {B} about ŶA by an angle  (pitch)
• Finally, rotate {B} about Ẑ A an angle  (yaw)

Roll-Pitch-Yaw (X - Y - Z fixed angles)

Z-Y-X Euler angles
Start with the frame {B} coincident with a known reference
frame {A}.
Rotate {B} first about X̂ B by an angle 

Then, rotate {B} about ŶB by an angle 
Finally, rotate {B} about Ẑ B by an angle α
Z-Y-X Euler angles

Can you make the algebraic proof?

Solution for  /  / 
If
If

Equivalent angle - axis
Start with the frame

{B} coincident with a
known frame {A}; then
rotate {B} about the
vector A K̂ by an angle
 according to the
right-hand rule.

A frame {B} is described as
initially coincident with {A).
Then {B} is rotated about the
vector A Kˆ  [0.7070 0.707 0.0]T
(passing through the point AP
= [1.0 2.0 3.0]) by an amount 
= 300.
Give the frame

description of {B}.

Solution: define two new frames {A’} and {B’} so that their
origins are at AP = [1.0 2.0 3.0]T and

We have

Axis/Angle Representation
Rotation about an arbitrary axis



Line vector vs. Free vector
The term line vector refers to a vector that is dependent on its
line of action, along with direction and magnitude, for causing its
effects.

Line vector vs. Free vector
A free vector refers to a vector that may be positioned anywhere

in space without loss or change of meaning, provided that
magnitude and direction are preserved.

A pure translation of 0.5m in the X direction is represented by

>> transl(0.5, 0.0, 0.0)
A rotation of 90 degrees about the Y axis by

>> r2t(roty(pi/2)) % {or use trot(pi/2)}
A rotation of -90 degrees about the Z axis by

>> r2t(rotz(-pi/2))
These may be concatenated by multiplication

>> t = transl(0.5, 0.0, 0.0) * r2t(roty(pi/2) )* r2t(rotz(-pi/2))
transform multiplication is in general not commutative

>> rotx(pi/2) * rotz(-pi/8)
>> rotz(-pi/8) * rotx(pi/2)
Transform Euler angles to roll/pitch/yaw angles
>> tr2rpy(t)
Homogenous transform for rotation about arbitrary vector
>> R=t2r(t)
>> tr2angvec(t)

Industrial Robot - Nguyen, Quoc Chi - C3

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Industrial Robot - Nguyen, Quoc Chi - C3

Uploaded by

Copyright:

Available Formats

Mechatronics Dept.

, Dynamics & Control Group, 207701-Industrial Robot

Spatial descriptions and

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-1

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-2

- Objectlocation in space specified by location of a selected point

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-3

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-4

ASSIGN COORDINATE ON THE ROBOT SYSTEMS

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-5

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-6

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-7

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-8

What is the relation between OPA and OPB?

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-9

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-10

Example of description of a orientation

Inertial Measurement Unit in Aircraft

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-11

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-12

Note: Rotation matrix are simply the projections of a frame onto

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-13

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-14

Note: In a rotation matrix, rows / columns are

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-15

Example: Determine missing elements in the following rotation matrix.

From properties of rotation matrix:

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-16

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-17

Finite and infinitesimal translations

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-18

Finite rotations do not commute

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-19

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-20

Mappings from frame to frame

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-21

Mappings involving rotated frames

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-22

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-23

Mappings involving general frames

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-24

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-25

Generally, it is desired to think of a mapping from one frame to

The 4 x 4 matrix above is called a homogeneous transform.

Operators: translation, rotation, & transformation

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-27

Operators: translation, rotation, & transformation

The DQ operator may be thought of as

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-28

Operators: translation, rotation, & transformation

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-29

Operators: translation, rotation, & transformation

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-30

Operators: translation, rotation, & transformation

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-31

Operators: translation, rotation, & transformation

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-32

As a general tool to represent frames, a

• A description of a frame - describes the frame {B} relative to the

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-33

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-35

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-36