EE-381 Robotics-1

UG ELECTIVE

Lecture 2
Representation and Homogenous
Transformations
Dr. Hafsa Iqbal
Department of Electrical Engineering,
School of Electrical Engineering and Computer Science,
National University of Sciences and Technology,
Pakistan
Last Lecture

• Introduction to Robotics

• History of Robotics
• Robots Classification
• Robot Accessories and Coordinates
• Robot Programming

2
Degree of Freedom (DOF)
• Degree of freedom describes a robot’s freedom of
motion

• 3DOF provides the motion of robot in X,Y and Z axis

• X→horizontal
• Y →vertical
• Z → depth
• 6DOF provides X,Y,Z and pitch, yaw, roll
• pitch → up-down
• Yaw → left-right
• roll → rotation
3
Robot Classification
Robot manipulators classified based on

• Power source
• Electrically
• Hydraulically →Liquid Pressure
• Pneumatic→Gas/Pressure powered

• Application area
• Assembly robots
• Non-assembly robots

4
Robot Classification
• Control systems
• Open loop control system
• Closed loop control system

• Method of control
• Servo robots → hydraulic power source, closed loop
• Point-to-point robot system
• Continuous-path robot system
• Non-servo robots → pneumatic power source, open loop

• Geometry (coordinate system) (based on first three joint of arm)

• Articulate (RRR)
• Spherical (RRP)
• SCARA (RRP)
• Cylindrical (RPP)
• Cartesian (PPP)
5
Robot Configurations

Cartesian Cylindrical Spherical

Articulated SCARA

6
Work Envelope
• Region of space a robot can surround.
• Range of movement.
• It is the shape created when a manipulator reaches
forward, backward, up and down.
• These distances are determined by the length of a robot’s
arm and the design of its axis.
• Work envelop depends on
• Size of the body, arm and wrist
• Type of joints → revolute, prismatic
• Range of Joints→linear and angular

7
 Work Space
• The region in space a robot can fully interact with

Rectangular/
Cartesian (3𝑃)

Cylindrical (1𝑅2𝑃) Spherical (2𝑅1𝑃)

Articulated (3𝑅)
SCARA(2𝑅1𝑃)

8
1-Cartesian Robot –Work Envelop

Front view

Top view Workspace Forward-

backward

Left-right
Up-down

9
2-Cylindrical Robot- Work Envelop

Forward-
Top view Front view backward

Workspace

Up-down
10
3-Spherical Robot (RRP)-Work Envelop

Workspace

Top view Front view Up-down

11
4-Articulated Robot (RRR)-Work Envelope

Workspace

Top view
Front view
12
5-SCARA (RRP)-Work Envelope

Workspace

13
Work Envelope
• Link ?
• Joint ?
2

Work envelop of link 1

Work envelop of link 2
1

• Angular motion is 0,2𝜋

14
Work Envelope
• Link ?
• Joint ?

Work envelop of link 1 2

Work envelop of link 2

• Angular motion is 0,2𝜋

15
Home Work
• Identify an activity from surroundings that could be
automated by using Robot

• Define the task that the Robot will perform

• What kind of tools and sensors you would require?

• The activity should be economically justified

16
Agenda
• Orientation, Spaces and Transformations (SPONG, chp 2-
3)
• Representing robot position
• Transforms
• Mappings
• Representations of Orientation
• Joints and Spaces

17
Point and Vectors
• Point: A Point has position in space. The only
characteristic that distinguishes one point from another
is its position.
• Draw point as dot

• Vector: A Vector has both magnitude and direction, but

no fixed position in space.
• Draw vector as line

𝑝0
𝑣0
𝑞0

18
Coordinate Frames
• A coordinate frame in two-dimensional space is a set of
two vectors having unit length and that are perpendicular
to each other.
• Allow us to assign the coordinates to the point
𝑦
𝑝0
𝑣0
𝑞0
𝑝 𝑥

19
Choice of Coordinate Frames
• Coordinates change depending on the choice of frame

𝑝
𝑥 𝑝1
𝑣1
𝑞1
𝑦

20
Dot Product
• Dot product of two vectors gives the projection of one
onto the other


Orthogonal vectors
v
𝑢. 𝑣 = 0 u cos 

21
Translation
1. The translation vector 𝑑𝑗𝑖 can be interpreted as the
location of frame {j} expressed in frame {i}.

22
Translation
• Example 𝟏

𝑦0 𝑦1

{0} {1}
𝑂0 𝑥0 𝑂1 𝑥1

3
• Suppose 𝑂0 is zero vector and 𝑂1 =
0

23
Translation

𝑦0 𝑦1

𝑂0 𝑥0 𝑂1 𝑥1

• The location of 1 is expressed in {0}

3 0 3
𝑑10 = 𝑂1 − 𝑂0 = − =
0 0 0
24
Translation
1. The translation vector 𝑑𝑗𝑖 can be interpreted as the
location of frame {j} expressed in frame {i}

2. The translation vector 𝑑𝑗𝑖 can be interpreted as a

coordinate transformation of a point from frame {j} to
frame {i}

25
Translation: Example 2
• A point expressed in frame {0}
𝑦0 𝑦1
1
𝑝1 =
1

𝑂0 𝑥0 𝑂1 𝑥1

{0} {1}

• 𝑝1 is expressed in {0}
3 1 4
𝑝0 = 𝑑10 + 𝑝1 = + =
0 1 1
26
Translation
1. The translation vector 𝑑𝑗𝑖 can be interpreted as the
location of frame {j} expressed in frame {i}.

2. The translation vector 𝑑𝑗𝑖 can be interpreted as a

coordinate transformation of a point from frame {j} to
frame {i}.

3. Translation vector 𝑑 can be interpreted as an operator

that takes a point and moves it to a new point in the
same frame.
27
Translation: Example 3
−1
𝑝0 = 𝑦0
1 2
𝑞0 =
1

−𝑥0 𝑂0 𝑥0

• 𝑞0 expressed in {0}

3 −1 2
𝑞0 = 𝑑 + 𝑝0 = + =
0 1 1

28
Translation: Example 3

−1 2
• 𝑝0 = and 𝑝1 =
1 1

• The location of 𝑝1 is expressed in 𝑝0

2 −1 4
𝑑10 = 𝑝1 − 𝑝0 = − =
1 1 0

29
Rotation
1. The rotation matrix 𝑅𝑗𝑖 can be interpreted as the
orientation of frame {j} expressed in frame {i}.

30
Rotation
• Suppose that frame {1} is rotated relative to frame {0}

• In 2D case 𝑦0
𝑦1

𝑥1

sin 
 𝑥0
o0  o1
cos 
31
Rotation
• The orientation of frame {1} is expressed in frame {0}
𝑦0
𝑦0
𝑥1 𝑦1
sin 𝜃
𝑐𝑜𝑠𝜃
𝜃
𝜃
𝑐𝑜𝑠𝜃 𝑥0 sin 𝜃 𝑥0

32
Rotation
• Project frame {1} onto the frame (alternate approach)
{0}
• Dot product
𝑥1 𝑥0
𝑅10 = 𝑦 . 𝑦
1 0

𝑥1 . 𝑥0 𝑦1 . 𝑥0
𝑥1 . 𝑦0 , 𝑦1 . 𝑦0

Projection of {1} over {0}

𝑥1 𝑦1
0 𝑥1 . 𝑥0 𝑦1 . 𝑥0 𝑥0
𝑅1 = 𝑥 . 𝑦 𝑦1 . 𝑦0 𝑦0
1 0
33
Rotation
1. The rotation matrix 𝑅𝑗𝑖 can be interpreted as the
orientation of frame {j} expressed in frame {i}.

2. The rotation matrix 𝑅𝑗𝑖 can be interpreted as a

coordinate transformation of a point from frame {j} to
frame {i}.

34
Rotation
• 𝑝1 expressed in {0}
𝑦0
𝑦1 1
𝑝1 =
1
𝑥1

sin 
 𝑥0
o0  o1
cos 

cos  sin   1

p R p 
0 0 1

 sin  cos  1

1

35
Rotation
1. The rotation matrix 𝑅𝑗𝑖 can be interpreted as the
orientation of frame {j} expressed in frame {i}.

2. The rotation matrix 𝑅𝑗𝑖 can be interpreted as a

coordinate transformation of a point from frame {j} to
frame {i}.

3. Rotation matrix 𝑅 can be interpreted as an operator

that takes a point and moves it to a new point in the
same frame.
36
Rotation
• 𝑞0 expressed in frame {0}
ŷ 0
q0

p 0= 1
1

o0 x̂0

cos  sin   1

q R p 
0 0

 sin  cos  1

37
Properties of Rotation Matrix

Properties of rotation matrix

𝑇
𝑗
• 𝑅𝑗𝑖 = 𝑅𝑖

𝑖 𝑇 𝑖 −1
• 𝑅𝑗 = 𝑅𝑗

• Columns/rows of R are mutually orthogonal

• Each column/row of R is a unit vector
• Determinant of R is equal to 1 (det(𝑅) = 1)
38
 Rotation in 3D
Projection of {1} over {0} 𝑥1 𝑦1 𝑧1
𝑥1 . 𝑥0 𝑦1 . 𝑥0 𝑧1 . 𝑥0 𝑥0
𝑅10 = 𝑥1 . 𝑦0 𝑦1 . 𝑦0 𝑧1 . 𝑦0 𝑦0
𝑥1 . 𝑧0 𝑦1 . 𝑧0 𝑧1 . 𝑧0 𝑧0

Example 𝟐. 𝟏: (𝑅𝑧,𝜃 )
Rotation of {1} about z-axis

39
Rotation in 3D
Rotation of {1} about x and y-axis are as;

𝑅𝑧0 ,𝜃

𝑅𝑥0 ,𝜃
𝑅𝑦0 ,𝜃

40
Rotation in 3D
1
𝜋
Example: Vector 𝑝0 = 1 is rotated about 𝑦0 -axis by as
2
0
shown in figure. What will be the resulting vector 𝑝1 ?
• Solution:
𝑝1 = 𝑅𝑦 ,𝜋 𝑝0
0 2

𝜋
2

41
Properties of Rotation Matrix

• 𝑅𝑧,0 = 𝐼

• 𝑅𝑧,𝜃 𝑅𝑧,𝜙 = R z,𝜃+𝜙

−1
• 𝑅𝑧,𝜃 = 𝑅𝑧,−𝜃

42
Summary
𝑦0 𝑦1
• Translation

𝑂0 𝑥0 𝑂1 𝑥1
Rotation
𝑦0
𝑦1

𝑥1

sin 
 𝑥0
o0  o1
cos 
43