Lecture-7

Robotics(ME3102T)

Homogeneous Co-ordinate Transformation Matrix

(HCTM)
Dr. A. S. Rao

Robotics & CAD/CAM Laboratory

Mechanical Engineering Department
VEERMATA JIJABAI TECHNOLOGICAL INSTITUTE
MUMBAI-400019
What is HCTM:

An H.C.T.M is a 4*4 matrix which maps or transforms a positional

vector expressed in homogenous co-ordinates from one co-
ordinate frame to another.
T =  R(3 * 3) P(3 *1)
 
 
 
 T 
  (1 * 3)  (1 *1)  SCALING
FACTOR

PERSPECTIVE
VECTOR
Since ,Camera is present at the tool tip/resting .hence ,all 000)
Q :-Translation and Rotation transformation between any 2 co-ordinates can be
represented by 3*3 matrix (true/false).
Ans :- Given statement is false, 3*3 is sufficient for rotation but for representing
both we require 4*4 matrix is called as HCTM.
Further with rotation the origin of the transformed coordinate frame remains
same as original co-ordinate frame.
However the origin of the translated co-ordinate frame is not same as the original
co-ordinate frame.
Hence it is not possible to represent translation & rotation with 3*3 matrix.
Note :- Rotation =3*3
Rotation + translation=4*4

Q:- Define HCTM?

Ans :- An HCTM is one which gives information about position as well as well as
rotation and also information about scaling of coordinate during coordinate
transformation.
Note :-physical coordinates are actual
coordinates, they have unique representation.
In homogenous ,one element is appended to
make the rows four
E.g.:-[P]m=[2,3,5,1] scaling factor
They do not have unique representation.
1) Pure rotation 2)Pure translation
R 0  P1 
 0  I P 2
 
 0  P3
   
0 0 0 1 0 0 0 1 
  0
3) No Rotation ,No Translation 
 I 0

 0
 
0 0 0 1
ALGORITHM for Composite Homogeneous Transformations:
1) Initialize the transformation matrix to T=I which corresponds to the
orthonormal co-ordinate frame F and M being coincident.

2) Represent rotations and translation using separate homogenous

transformation matrix .

3) Represent composite rotation as separate fundamentals homogenous

rotation matrix.

4) If the mobile co-ordinate frame ‘M’ is to be rotated about or translated

along a unit vector of fixed co-ordinate frame F then pre multiply
homogeneous transformation matrix T by the appropriate fundamental
homogeneous rotation or translation matrix.

5) If the mobile co-ordinates frame ‘M’ is to be rotated about or translated

Q:-
Suppose that [q]m=[0,0,10,1]T represents the homogenous co-ordinates of
a point located 10 units along the third vector of a mobile coordinate
frame ‘M’ . Suppose that initially ‘M’ is coincident with a fixed coordinate
frame ‘F’ . If we rotate the mobile ‘M’ frame by π/4 radians about the first
unit vector of ‘F’. Then determine the resulting homogenous coordinate
transformation matrix . Also determine the physical co-ordinates of the
point ‘q’ in fixed co-ordinate frame ‘F’.
 Soln :- [q]m=[0,0,10,1]T
HTM representing a rotation of π/4 radians about F1 .

1 0 0 0
T= 0 COS   SIN  0
 4 4
0 SIN  COS  0
 4 4 
0 0 0 1 
 1 0 0 0
= 0 0.707  0.707 0

0 0.707 0.707 0
 
0 0 0 1

Frame ‘M’ is rotated about fixed co-ordinate frame .

(pre-multiply)
HTM=T[I]
HTM=T
[q]F =HTM.[q]m
1 0 0 0  0   0 
0 0.707  0.707 0  0    7.07 
=  =  7.07 
0 0.707 0.707 0 10 
    
0 0 0 1  1   1 
 [q]F = 0  7.07 7.07 1
T This is homogenous co-
ordinate.

[q]F =0  7.07 7.07 T This is a physical co-

ordinate.

Q:-
A cube is translated 5 units along x-axis and rotated 300 along y-axis .establish the
transformation matrix .Does order of transformation matrix matters .If yes ,show it?
GIVEN:-
1) operation is w.r.t fixed co-ordinate
2) translate 5 units along X (F1).
3) Rotate 300 about Y (F2)
Matrix representing translation of 5 units along X (F1)
1 0 0 5
0 0
TT =  1 0 
0 0 1 0
 
0 0 0 1
Matrix representing rotation of 300 about Y (F2)

TR =  Cos30 0 Sin30 0
 0 1 0 0

  Sin30 0 Cos30 0
 
 0 0 0 1

0.866 0 0.5 0
=  0 1 0 0

  0.5 0 0.866 0
 
 0 0 0 1
 HTM(T)=Rot(30,F2)*TRANS(5,F1)*[I] PRE-MULTIPLY

0.866 0 0.5 0 1 0 0 5
=  0
 1 0 0 0 1 0 0

  0.5 0 0.866 0 0 0 1 0
   
 0 0 0 1
0 0 0 1

0.866 0 0.5 4.33 

= 0 1 0 0 

  0.5 0 0.866  2.5
 
 0 0 0 1 
 BY changing the order of multiplication:-
HTM(T)=TRANS(5,F1)*Rot(30,F2)* [I]

1 0 0 50.866 0 0.5 0
= 0 1 0 0 0 1 0 0
 
0 0 1 0  0.5 0 0.866 0
  
0 0 0 1
 0 0 0 1
0.866 0 0.5 5
=  0 1 0 0

  0.5 0 0.866 0
 
 0 0 0 1
The two ‘T’ matrix are different since the transformation are made about
different fixed axes.
Conclusion :- yes ,the order of transformation matrix matters .it is observed that position
vector is different.

Note :-since matrix multiplication is not commutative unless performed about the
same axis (order of transformation is important because matrix multiplication is not
commutative i.e. AB=BA).

Q:-
Consider two frames {A} and {B} ,The frame {B} is rotated w.r.t. frame {A} by 300
around Z-axis and origin of {B} is shifted to w.r.t origin of {B} by {5,10,5}. A point ‘P’ is
described in {B} as P {1,2,3}. Describe the same point in {A}.

Sol:- let us assume frame A : Fixed frame

Frame B: movable frame
Given:- 1)Rot (300 ,F3 )
2)Trans (5,10,5)
3)[P]m=[P]B={1,2,3}T
4)[P]F=[P]A=?
 HTM(T)=TRANS(5,10,5)*Rot(30,F3)* [I]

1 0 0 5  0.866  0.5 0 0
= 0   0.5 0.866 0 0
 1 0 10   
0 0 1 5  0 0 1 0
  
0 0 0 1  0 0 0 1

0.866  0.5 0 5
=  0.5 0.866 0 10 

 0 0 1 5
 
 0 0 0 1
 0.866  0.5 0 5 1   4.866 
[P]A =  0.5 0.866 0 10   2 = 12 .232 
    
 0 0 1 5 3  8 
     
 0 0 0 1  
1  1 

[P]A = 4.866 12.23 8 1

T This is homogenous co-
ordinate.

[P]A = 4.866 12.23 8

T This is a physical co-
ordinate.
Ques.
For the following rotation matrix , what are the values of K ,ø ,a ,b , c?

Rot (ø, Fk ) = a 0 1 0
0 b 0 0

c 0 0 0
 
0 0 0 1

Ans :- b=1 ,k=2

02  b 2  02 = 1
Sin ø=1 where b=1 Norm of Vector X
Ø=sin-1(1) C=-sin ø
Ø=90 C=-1
a=cos ø=cos90=0
a=0
Verify answer using Norm method

a 2  0 2  c 2 = 1  0 2  0 2  ( 1) 2 = 1
Therefore 1=1
 Class work
Q1
If F and M are 2 orthonormal coordinate frames, translate M along F2 by 3 units, rotate
M about F3 by 180 deg. [m1]M=[1,0,0,1]T. Find[m1]F after composite transformations.
Ans: [m1]F = (-1, -3, 0, 1)

Q2
Repeat the above problem with the order of operations reversed. i.e. First rotate M
about F3 by 180 deg.
Next , translate M along F2 by 3 units.
Find[m1]F after composite transformations.

[m1]F = (-1, 3, 0, 1)