Arba Minch University

Arba Minch Institute of Technology

Faculty of Electrical and Computer Engineering

(ECEg5332)

CHAPTER TWO – MANIPULATOR KINEMATICS

PART 1- Transformations

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 Contents
Spatial Descriptions and Transformations

Description Of Position, Orientation, And Frame

Translated, Rotated, General, and Compound Frames
Euler Angles
Roll/Pitch/Yaw Angles
Axis/Angle Representation
Homogeneous Transformations

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 Description Positions, orientations and frames

 px 
Positions  
A
p   py 
• The position of a point p relative to a p 
 z
coordinate system A (Ap):

Orientation
• The orientation of a body is described
by a coordinate system B attached to
the body, relative to A (a known
coordinate system).

• In {A} coordinate system:

AX , AY and AZ
B B B

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 Description Positions, orientations and frames

• Rotation Matrix A
B R describes {B} with respect to {A}
A
B R   A X B A
YB A
Z B 
 X B  X A YB  X A Z B  X A 
  X B  YA YB  YA Z B  YA 
 X B  Z A YB  Z A Z B  Z A 
A
B R   A X B A
YB A
Z B 
 X B  X A YB  X A Z B  X A 
  X B  YA YB  YA Z B  YA 
 X B  Z A YB  Z A Z B  Z A 
cosines of the angle
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 Description Positions, orientations and frames

• Frame is generally represented by three mutually

orthogonal axes.
• Since we may have more than one frame at any given
time, we use axes XA, YA, and ZA to represent the fixed
frame and a set of axes XB, YB, and ZB to represent
another (moving) frame. Z
 
B
B  A
B R, A PBorg
A
ZA PBorg
XB
YB
position
orientation
YA

XA
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 Translated, Rotated, and General frames

Translated frames:
• from frame to frame expressing a point Bp A
B
p
in terms of frame {A}, when {A} has the
p ZB

same orientation as {B}: Z

A
pBorg
A YB
A
p  p  pBorg
B A
XB
YA
Rotated frames: XA
• AP‘s components are BP’s projections onto the unit
directions of {A}. frames {A} and {B} are coincident:
•
A
B R: it’s columns are the unit vectors of
{B} expressed in {A}. ZA ZB
B
p
A
P  BA R B P
XB YA

XA YB
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 Example:1
• Frame {B} is rotated relative to frame {A} about
Z by 30 degrees, and BP. Find AP
 X B  X A YB  X A Z
 X X 
BAXRXA Y X
YBXXY A ZZ Y 
BX  YXA  Z

A R    B B A
 B B AA B B AA
 
Bp A
X  Y Y  Y Z  Y
BR    X B BYA A YXB BBYAZAA ZYB BBY ZA AA  Z
B
YB
 X BZ Z A Y YBZ Z A Z ZBZ ZA 
 X A
Bp
YA
B A  cos
B 30 A cos120
B 0
YB  cos
 cos  cos120 0 0exact
3030cos120  30 0
  cos 60 cos 
XA  
computation
YA
 cos
cos 6060 cos  cos 30
0 30 0 0 0!?
 1

= ZB XA XB   0 0 0 0 1 1 
ZA  And : 
And: :
ZA= ZB XB And A
P  BA R B P !
A
A PA  A
P  BR P ! R B
B P !
B

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 Translated, Rotated, and General frames

• General frames: Frame {A} and {B} has different

origins and orientations. Vector offset between origins
AP {B} is rotated in respect to {A}: A
Borg BR
B
A ZB p
p
A
P  R P  PBorg
A
B
B A
A
pBorg
ZA
XB
YB
YA

XA

Example 2:Frame {B} is initially coincident with frame {A}. Frame {B} is then
rotated about YB by 30o, then about XB by 60o and then about ZB by 30o.
Finally ,the origin of {B} is translated to [XA ,YA ,ZA ]T =[10,-5,4 ]T.
a) Find A
B R in the order given
b) A point in {B} is BP =[6,-4,1 ]T , find the coordinates of this point in {A}.

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 Translated Rotated, and General frames
Compound Transformation Matrices
• Frame {C} is known relative to frame {B}, and frame {B} is
known relative to frame {A}. Given Cp we want to find Ap.
ZC
C
p

𝐵
𝑃 = 𝐶𝐵𝑅 𝐶 𝑃 + 𝐵𝑃𝐶𝑜𝑟𝑔 A
p ZB
YC
𝐴
𝑃 = 𝐵𝐴𝑅 𝐵𝑃 + 𝐴𝑃𝐵𝑜𝑟𝑔 XC
𝐴 𝐵 𝐶 𝐴 𝐵 ZA
𝐴𝑃 = 𝐴
𝐵𝑅 𝐶 𝑅 𝑃 + 𝐵𝑅 𝑃𝐶𝑜𝑟𝑔 + 𝑃𝐵𝑜𝑟𝑔 XB
YB
YA

XA
Properties of the rotation matrix

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 Represented of Rotation

• Which an arbitrary rotation can be represented using only

three independent quantities:
 Euler Angle representation
 the roll-pitch-yaw representation
 the axis/angle representation.

Euler angles
• A common method of specifying a rotation matrix in terms of
three independent quantities.
• Rotation with respect to the current frame.
• Assuming we limit ourselves to 3 rotations without successive
rotations about the same axis. Most used Euler angles ZYZ

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 Euler Angles ZYZ
1. A rotation of φ1 about axis Z
2.A rotation of the new frame an angle φ2 about axis Y’ (current axis)
3.A rotation of the new frame an angle φ3 about axis Z’’ (current axis)

Equivalent rotation matrix

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 Euler Angles ZYZ
The rotation matrix Find the ZYZ Euler angles

∅1 , ∅2 ,∅3

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 Euler Angles ZYZ

Examples 3: Find the rotation matrix equivalent to the ZYZ Euler

angles (300 ,500 , 900 ) and (-1500 ,-500 ,-900 )

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 Roll-Pitch-Yaw/Fixed Angles
A sequence of rotations about a given fixed frame.
1. A rotation of φy about axis x axis (yaw)
2. A rotation of φp about axis y axis (pitch)
3. A rotation of φr about axis z axis (roll)
𝒄𝒐𝒔φp 𝟎 𝒔𝒊𝒏φp
𝑹𝒚 φp = 𝟎 𝟏 𝟎
−𝒔𝒊𝒏φp 𝟎 𝒄𝒐𝒔φp
𝒄𝒐𝒔φr −𝒔𝒊𝒏φr𝟎 𝟎
𝑹𝒛 φr = 𝒔𝒊𝒏φr 𝒄𝒐𝒔φr 𝟎
𝟎 𝟎 𝟏
𝟏 𝟎 𝟎
𝑹𝒙 φy = 𝟎 𝒄𝒐𝒔φy −𝒔𝒊𝒏φy
Equivalent rotation matrix 𝟎 𝒔𝒊𝒏φy 𝒄𝒐𝒔φy

𝒄∅r𝒄∅𝒑 𝒄∅r𝒔∅𝒑𝒔∅𝒚 − 𝒔∅r𝒄∅𝒚 𝒄∅r𝒔∅𝒑𝒄∅y + 𝒔∅r𝒔∅𝒚

𝑹𝒛 φr = 𝒔∅r𝒄∅𝒑 𝒔∅r𝒔∅p𝒔∅y + 𝒄∅r𝒄∅y 𝒔∅r𝒔∅p𝒄∅y − 𝒄∅r𝒔∅y
−𝒔∅𝒑 𝒔∅y𝒄∅𝒑 𝒄∅p𝒄∅𝒚
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 Roll-Pitch-Yaw/Fixed Angles
Find RPY Angles from rotation matrix

∅𝑟 , ∅𝑝 ,∅𝑦

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 Roll-Pitch-Yaw/Fixed Angles

Example 4:Given the following rotation matrix, find the two

equivalent sets of roll, pitch, and yaw angles

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 Roll-Pitch-Yaw/Fixed Angles

Example 5: Given the two rotational matrices below.

a) Find the rotational matrix from the robot base to the gripper 𝐺𝑟𝑖𝑝𝑝𝑒𝑟
𝐵𝑎𝑠𝑒
𝑅
b) Find the Euler angles if the robot is made up of ZYZ Euler angle set
of joints
1 0 0 0 −1 0
𝑤𝑜𝑟𝑙𝑑 𝑤𝑜𝑟𝑙𝑑
𝐺𝑟𝑖𝑝𝑝𝑒𝑟𝑅= 0 0 −1 𝐵𝑎𝑠𝑒𝑅= 1 0 0
0 1 0 0 0 1

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 Axis/angle Representation
• We are interested in rotation about an arbitrary axis in
space. Any rotation matrix R can be represented as a
rotation of an angle q about a unit axis w.
• Rot(𝜔, 𝜃)
• 𝜔: rotation axis (global) w𝑧
• 𝜃: rotation angle (rad. or deg.)
• follow right-handed rule w
• Perform rotation
• Rodrigues formula w𝑦

w𝑥

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 Axis/angle Representation
Find Axis/angle from rotation matrix
ω, θ
Solution: Using the Rodrigues formula

• Comparing terms:

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Axis/angle Representation

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 Axis/angle Representation
Example 6: Compute the axis and angle equivalent to the
following rotation matrix

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 Homogeneous Transformations

AP
Borg
Borg Origin of frame B
AP
with respect to frame A

• Point P of frame {B}in frame {A} AP A A B

B = PBorg + RB P
• In a more compact way

𝐴 AP 𝐵
𝐵𝑅
𝐴 𝑃
𝑃
= Borg
𝟏 0 1 1
𝐴 𝐴𝑻 𝐵
𝑷 𝐴
𝑷
𝑷 𝑩 𝐻o𝑚𝑜𝑔𝑒𝑛𝑒𝑜𝑢𝑠
𝐵
Homogeneous 𝑷 𝑐𝑜𝑜𝑟𝑑𝑖𝑛𝑎𝑡𝑒𝑠
Transformation matrix

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 Homogeneous Transformations
They represent the position and orientation (pose) of a frame
with respect to another frame.

𝒓𝟏𝟏 𝒓𝟏𝟐 𝒓𝟏𝟑 𝑷𝒙 Rotation (orientation)

𝒓𝟐𝟏 𝒓𝟐𝟐 𝒓𝟐𝟑 𝑷𝒚 𝑅 𝑃 Translation
𝑻= =
𝒓𝟑𝟏 𝒓𝟑𝟐 𝒓𝟑𝟑 𝑷𝒛 0 1 (Position )
𝟎 𝟎 𝟎 𝟏
𝑅 0 𝐼 𝑃 Pure translation
𝑻= Pure rotation 𝑻=
0 1 0 1
• Inverse of Homogeneous transformations

𝑻=
𝑅 𝑃
𝑻−𝟏 = 𝑅𝑇 −𝑅𝑇 𝑃
0 1 0 1

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 Homogeneous Transformations
Composition
• When a transformation is applied with respect to the fixed
frame
A pre -multiplication is used
• When a transformation is applied with respect to the
mobile (current, new ) frame
A post -multiplication is used

Example 7: A frame {A} is rotated 900 about x, and than it’s

translated a vector(6,-2,10) with respect to fixed (initial) frame.
Find the homogeneous transformation that describes {B} with
respect to {A}
𝐴𝑻 =Trans
𝑩 (6,-2,10)𝑅𝑜𝑡𝑥 (900 )

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Defining a robot task

task definition relative

absolute to the robot end-
definition of task effector

𝑊𝑻 = 𝑊𝑻 𝐵𝑻 𝐸𝑻
𝑭 𝐵 𝐸 𝑭

known,
once robot direction kinematics of the
is placed robot arm (function of q)

𝐵
𝑻𝐸 (𝑞) = 𝑻𝐵 𝑻𝑭 𝐸𝑻−1
𝑊 −1 𝑊
𝑭 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
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 Example 8
1. A camera is attached to a gripper in robot arm. The camera can
focus on an object to determine its frame relative to the camera.
Find the transformation matrix for the object relative to the
robot arm using the matrices below

2. Suppose R is generated by a rotation of 90o about z followed by a

rotation of 30o about y followed by a rotation of 60o about x. find
axis and angle from the rotation matrix

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