Robotics and Control:

Theory and Practice

Prof. N. Sukavanam
Department of Mathematics
Indian Institute of Technology Roorkee

Prof. M. Felix Orlando

Department of Electrical Engineering
Indian Institute of Technology Roorkee
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 Dot and Cross Product

• Two vectors are called orthonormal (perpendicular) ifa • b = 0.

• The standard basic vectors T, j and k · form the right handed system because if the fingers
of the right hand curl from first vector to second then the third vector points in the direction
Instead of T, { and k we can consider any three mutually .l unit vectors
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 Coordinate Transformations

• Let F= 3
h)
(fi ,/ 2 , and M = (m m m
1, 2 , 3 ) be orthonormal coordinate
frames in R having the same origin and let R be any 3x3 matrix defined
=
by a kj f k - mj for 1 < k,j < 3 Then for each point (vector) r in R3 :
P[r] = R M[r]
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 Proof

• Any point P(~, y, 2) can be written in vector form as:

.. ... ..
r = X1f1 + Y1f2 + Z1 {3 (1)
Where { 1 , { 2 , f 3 denote orthonormal coordinate axes of the fixed frame F.
-t -t .. -

(x,y,z) are the coordinates of the point P w.r.to F. Let M be the moving frame.
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frame M . Then the vector r can be written as :
; = x2m 1 + Y2m2 + z2m 3 c2)
Where (x 1 , y 1 , z 1 ) denotes the co-ordinate of point Pin M.
• Now in F (Equation 1)
r = (r.ii)ii + (r.h)i2 + (r. h )h
And in M (Equation 2)
f = (r. 1n1 )m1 + (r. m2)m2 + (r. m3)m3
Since m1, ffi2 , m3 are vectors in F we can wnte (Equation 3):
mi= (mi .fi )fi+(mi./2 )!2 + (mi.h )h i = 1,2,3
• From Equation 2 and 3 w e can get

r= r.f=.(r. m,)l (m,.ii )Ii +(m,. /2)/2 + (m1. /2)/21

Hence w e get (Equation 4)
3 3

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J C l te l
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m1 h
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111 2 '2
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m3 h
Z1 --+.-+ --+.-+ --+.-+
m 1 '3 m2 h m1 h
• Now in F (Equation 1)
r = (r.li)li + (r. li)h + (r.h)h - - ( I )

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