Lecture-6 Coordinate Transformations

Lecture-6
Robotics(ME3102T)
Coordinate Transformations
Dr. A. S. Rao
Lab-in-Charge:
Technical Excellence Centre
Mechanical Engineering Department
VEERMATA JIJABAI TECHNOLOGICAL INSTITUTE
MUMBAI-400019
Direct Kinematics :
Outline:
1. Robot Manipulator
2. Co-ordinate Frames (Fixed & Mobile)
3. Co-ordinate Transformation Matrix
4. Rotations of CF
5. Single Rotations
6. Composite Rotations
7. Problems
Robot Manipulator:
 A Robot Manipulator can be considered as a

chain of links interconnected by joints
 These joints can be revolute joints having rotary

motion or prismatic joints having linear or
sliding motion
 One end of this is fixed to a base while other is

movable to which a tool, endeffector or gripper
can be attached
Robot Manipulator…
Tool or Movable
Links End
Joints
Base or Fixed End
Block Diagram of Robot Manipulator

Robot Manipulator…
 Manipulator consists of joints and links Link3

Joint3
 Joints provide relative motion
End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of- Link2
freedom”
Link1
 Most robots possess five or six
degrees-of-freedom Joint2
 Robot manipulator consists of two
sections: Joint1
 Body-and-arm – for positioning of Link0
objects in the robot's work volume Base
 Wrist assembly – for orientation of
objects
Co-ordinate Frames (Fixed & Mobile)
 Fixed co-ordinate frame:

 Attached to base
F = {F1, F2, F3}
 Mobile co-ordinate frame:

 Attached to base
M = {M1, M2, M3}

Coordinate Transformation Matrix:
 Transforming or mapping coordinate of one frame to other

frame is called co-ordinate transformation
i.e. to find the value of co-ordinate in another frame
 This operation is mathematically represented by matrix is

called co-ordinate transformation matrix / arm matrix
 Let F = {F1, F2, F3} and M = {M1, M2, M3} be the

orthonormal co-ordinate frame with the same origin
Co-ordinate Frames (Fixed & Mobile)..
Let A be the arm matrix defined as

Akj = Fk Mj
Then [P]F = A. [P]M
Where, A = F.M
=
 F1 M 1 F1 M 2 F1 M 3 
 2 1 2 2 2 3
F M F M F M 
 F 3 M 1 F 3 M 2 F 3 M 3
Coordinate Transformation Matrix…
 Q.
F3
Write the mathematical
representation and matrix of the
right handed ortho normal
coordinate frames, say, fixed and M3
mobile frames when they are M2
coincident (aligned with each other) F2
M1
 Both fixed and mobile coordinate
F1
frames are coincident each other
i.e. they are orthonormal
 F1 M 1 F1 M 2 F1 M 3 
A =  2 1 2 2 2 3
F M F M F M 
 F 3 M 1 F 3 M 2 F 3 M 3
A =
 cos 00 cos 90 cos 90 
 0 0 0
cos 90 cos 0 cos90 
cos 90 0 cos 90 cos 00 
 
A= 1 0 0 
0 1 0 
 
0 0 1 
 When fixed and mobile frame are coincident then the relation is
given by identity matrix.
 For the 2 co-ordinate frame M and F for a single axis robot .

m
If the co-ordinates of pt. P w. r. t to ‘M’ are given by [P] =
[ 0.6,0.5,1.4]T .Find the co-ordinates of pt. P w. r. t ‘F’ when
body is rotated by 900.
F3
F3 Rotated by
90 0 M 3 M 2
M 3
M2 F2 F2
M 1
M1
F1
F1
Initially coincident After rotation by 900
A =
cos 90 0 cos180 cos 90 
 0 0 0
 cos 0 cos 90 cos 90 
cos 90 0 cos 90 cos 00 
 
A = 0  1 0 
1 0 0 
 
0 0 1 
F m
[P] = A.[P]
0  1 0  0 . 6 =   0 .5 
= 1 0 0  0.5  0 .6 
   
0 0 1  1.4  1.4 
[P]F=  0.5 0.6 1.4

T
ROTATIONS:-
1) Fundamental rotations (single rotation)

2) Composite rotations (multiple rotations)
 Fundamental rotations 
A=RK(θ)
Where k is axis about which rotation takes place .
a) If rotation takes place about 1st axis F1
 cos 00 cos 90 cos 90 
R1(θ)=  0
cos 90
0
cos 0
cos(90   ) 
cos 90 0 cos(90   ) cos  0 
 
ROTATIONS:-
F3
= 1 0 0  90- θ
  M2
0 cos  sin   M3
θ
 0 sin  F2
 cos 
M1
F
[P] =
1 0 0  2 F1
 
0 1  3  0 
 2 2   put θ=60
0

3
2
1
2 
 3
ROTATIONS:-
[P]F=  2 
 2.598
 
 1.5 
[P]F= 2  2.598 1.5

T
ROTATIONS:-
Consider the following co-ordinate transformation matrix , which

represents a fundamental rotation . what is the axis of rotation
(1,2,or3) and what is angle of rotation.
R =  0.5 0  0.866 
 
 0 1 0 
0.866 0 0.50 
 
ANS:-
1) since 2nd row and 2nd column remain same as identity matrix
hence axis of rotation is 2
K=2
ROTATIONS:-
2) Angle of rotation
a) Cos θ =0.5
θ = cos-1(0.5)
θ =+- 600
b) sin θ = -0.866
θ = sin-1 (-0.866)
θ =- 600
B) If the rotation takes place about 2nd axis :-
R2(θ) =
Rotations…
B) If the rotation takes place about 2nd axis :-
F3
R2(θ) =  cos 0 sin  
  θ
 0 1 0  M3 M2
 sin  0 cos  90- θ F2
 
θ
M1
F1
Rotations…
C) If the rotation takes place about 3rd axis :- F3

R3(θ) = cos  sin  0 M3
  M2
 sin  cos 0 θ F2
 0 0 1 
 θ 90- θ
M1
F1
Single Rotation…
 Algorithm for single arm rotation :->

1) start with 3 by 3 matrix. For Kth axis rotation keep Kth
row & Kth column as it is,(as that identity matrix)
2) diagonal elements are always cos θ, and off diagonal
elements are sin θ.
Single Rotation…
Q.
M frame is rotated about F1 by θ =π/3 radians .if P is a point on
the frame given by [P]m=[2,0,3]T, find the co-ordinates of P in F
Frame.
 
R1(θ) = 1 0 0 
  
0 cos  sin
 3 3
   
0 sin cos 
 3 3 
Single Rotation…
=
1 0 0 

0 1  3 
 2 2 
0 3 1 
 2 2 
Note:- 1.while finding θ consider the magnitude of cos-1 and
not the sign.
2. Also consider sign of sin-1 and not the magnitude.
Single Rotation…
Q.
Consider the following co-ordinate transformation matrix,which
represents a fundamental rotation. What is axis of rotation and
what is the angle of rotation.
R=
0.33 0  0.33
 
 0 1 0 
 0.33 0 0.33 

Ans:- 1) Axis of rotation =2 (2nd row and 2nd column rep. identity matrix )
2) Angle of rotation.
Single Rotation…
Cos θ=0.33
Θ=cos-1(0.33)
Θ=-+70.73
Sin θ = -0.33
θ=sin-1(-0.33)
Θ=-19.268
Θ=-70.73
Single Rotation…
Exercise :  a 0  0 .5 
Given RK (θ) =
  find a , b , c , k ,θ ?
0 b 0 
 0 .5 0 c 

Composite Rotations…
Composite rotations (multiple rotations) :

A sequence of fundamentals rotation is called as composite
rotation (YPR ,RPY, YRP, PYR,PRY,RYP).
There are 6 types C.R.M (composite rotation matrix)
Algorithm :-
1) Initialize the rotation matrix to R = I i.e. identity matrix which
corresponds to orthonormal coordinate frames F and M being
coincident .
2) If the mobile co-ordinate frame ‘M’ is to be rotated by an
amount ‘θ’ kth unit vector of fixed co-ordinate frame then pre
multiply R by RK (θ)
3) If the mobile co-ordinate frame ‘M’ is to be rotated by an

amount ‘θ’ about its own kth unit vector then post multiply
R by RK(θ)
4) If there are more fundamental rotations are to be
performed then go to step (2); else, stop. The resulting
composite rotation matrix R maps mobile M coordinates
into fixed F coordinates.
A ) Yaw, Pitch, Roll transformation :-

YPR(θ) represents the composite rotation matrix
obtained rotating a mobile co-ordinate frame M = {M1, M2,
M3} first about the unit vector F1 with a yaw of θ1, then
about the unit vector F2 with pitch of θ2 , and finally about
3
Since the rotations are about F co-ordinates we can have pre-

multiplication ( multiplication on left ) [rule 2 from algorithm]
YPR(θ) = R3(θ3)*R2(θ2)*R1(θ1)*I
= C 3  S 3 0  C2 0 S2  1 0 0 
     
 S 3 C3 0  0 1 0  0 C1  S1 
0 0 1  S 2 0 C 2   0 S1 C1 
     
= C 3  S 3 0   C 2 S1S 2 C1S 2 
  
 S 3 C 3 0  0 C1  S1 
 0 0 1   S 2 S1C 2 C1C 2 
  
=
C 2C 3 S1S 2C 3  C1S 3 C1S 2S 3  S1S 3 
 
C 2S 3 S1S 2S 3  C1C 3 C1S 2S 3  S1C 3 
  S2 S1C 2 C1C 2 
 
B) ROLL-PITCH-YAW:-
If we perform roll first, pitch second and yaw third about M co-ordinates
frames then it will be multiplication on right or post multiplication [Rule 3
from algorithm]
RPY(θ)= I*R3(θ3)*R2(θ2)*R1(θ1)
Note:-YPR(θ) about F co-ordinate =RPY(θ) about M co-ordinate.
For e.g. :-
YPR(F)=> Rotation about F co-ordinates pre-multiply
R3(θ3)*R2(θ2)*R1(θ1)*I
RPY(M)=>Rotation about M-co-ordinates post-multiply
I*R3(θ3)*R2(θ2)*R1(θ1)
RPY(F)=> Rotation about F fixed co-ordinate pre-multiply

R3(θ3)*R2(θ2)*R1(θ1)*I
RPY(M)=> Rotation about M co-ordinate Post-multiply
I*R3(θ3)*R2(θ2)*R1(θ1)
So, YPR(F)=RPY(M)
Q.
Refer the figure, sketch the tool position after each intermediate position
on performing the following yaw-pitch-roll operations ,yaw->π/2, pitch->
-π/2, roll-> π/2 ,rotations are performed about fixed axis.
Given:- θ1= π/2 M3 F3

θ2=-π/2
θ3= π/2
M2 F2
YPR(F)= R3(θ3)*R2(θ2)*R1(θ1)*I
M1 F1
C 3  S 3 0  C2 0 S2  1 0 0 
     
0 C1  S1 
=
 S 3 C3 0  0 1 0 
0 0 1  S 2 0 C 2   0 S1 C1 
     
YPR(F)=  0  1 0   0 0 1  1 0 0 
   
 1 0 0   0 1 0  0 0  1 
 0 0 1   1 0 0   0 1 0 
   
= 0  1 0   0 1 0 
  
 1 0 0  0 0 1 
 0 0 1   1 0 0 
  
0 0 1 
=  
0 1 0 
 1 0 0 
 
[P]m=[0,0,1] given
[P]F =YPR(F).[P]m
[P]F=  0 1
0 0  =c 1 
  0  0 
0 1 0     
 1 0 0  1 0
 
[P]F= 1 0 0
After performing the operation tool is resting at F1
1) 2)
F3 F3
Front
view
F2 F2
F1 π/2
F1
3) 4)
TOP F3 F3
view π/2
-π/2
F2 F2
Tool resting at
F1 F1 F1
Consider a robotic tool/gripper as shown in fig1. below in

which the mobile frame M = {M1, M2, M3} and the fixed
frame F= {F1, F2, F3} are coinciding at wrist joint. Suppose
we perform a yaw motion of the tool by π radians about
the first fixed axis i.e. F1 , Then we perform a pitch motion
of the tool by –π/2 radians about the second axis F2 and
finally perform a roll motion of the tool by π/2 radians
about third axis i.e. F3. find the position of the tool after
rotation about the fixed co-ordinate [P]M=[0,0,0.8]T .
Soln:-given : θ1= π ,θ2= –π/2, θ3= π/2
YPR(F)= R3(θ3)*R2(θ2)*R1(θ1)*I
YPR(F)= R3(θ3)*R2(θ2)*R1(θ1)*I
YPR(F)=  0  1 0   0 0 1  1 0 0 
   
 1 0 0   0 1 0  0  1 0 
 0 0 1   1 0 0   0 0  1 
  
= 0  1 0  0 0 1
  
 1 0 0  0  1 0
0 0 1 1 0 0 
 
=
0 1 0 
 
0 0 1 
1 0 0 
 
[P]F= 0 1 0  0  = 0
    0 .8 
0 0 1  0  
 
1 0 0 0.8  0 

[P]F= 0 0.8 0
T
1) F3
2) F3
F2
F2
π
F1
F1
3) 4) F3
F3 π/2 Top
view
–π/2 F2
Front F2
view
F1
F1
Exercise…
Q1.
The coordinates of the point p on the body are given by
{1,2,3}T . Rotate the body about Z-axis by 30 deg and then
about the Y-axis by 30 deg. Find the new coordinates of the
point p w.r.t to fixed frame
Ans : [1.384, 2.232, 2.665]T units

Lecture-6 Coordinate Transformations

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Lecture-6 Coordinate Transformations

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Lecture-6

 A Robot Manipulator can be considered as a

 These joints can be revolute joints having rotary

 One end of this is fixed to a base while other is

Base or Fixed End

Block Diagram of Robot Manipulator

 Manipulator consists of joints and links Link3

 Fixed co-ordinate frame:

F = {F1, F2, F3}

 Mobile co-ordinate frame:

M = {M1, M2, M3}

 Transforming or mapping coordinate of one frame to other

 This operation is mathematically represented by matrix is

 Let F = {F1, F2, F3} and M = {M1, M2, M3} be the

Let A be the arm matrix defined as

Then [P]F = A. [P]M

 For the 2 co-ordinate frame M and F for a single axis robot .

[P]F=  0.5 0.6 1.4

1) Fundamental rotations (single rotation)

[P]F= 2  2.598 1.5

Consider the following co-ordinate transformation matrix , which

C) If the rotation takes place about 3rd axis :- F3

 Algorithm for single arm rotation :->

Composite rotations (multiple rotations) :

3) If the mobile co-ordinate frame ‘M’ is to be rotated by an

A ) Yaw, Pitch, Roll transformation :-

Since the rotations are about F co-ordinates we can have pre-

RPY(F)=> Rotation about F fixed co-ordinate pre-multiply

Given:- θ1= π/2 M3 F3

Consider a robotic tool/gripper as shown in fig1. below in

Ans : [1.384, 2.232, 2.665]T units

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