FACULTY OF ELECTRICAL ENGINEERING & TECHNOLOGY

UNIVERSITI MALAYSIA PERLIS

EMJ37303 ROBOTIC SYSTEMS

KINEMATICS (PART I)
“SPATIAL DESCRIPTIONS AND TRANSFORMATIONS”
 Introduction

EMJ37303 ROBOTIC SYSTEMS

 Introduction

EMJ37303 ROBOTIC SYSTEMS

 EMJ37303 ROBOTIC SYSTEMS
Kinematics Problem

(𝑥, 𝑦, 𝑧)

• How to make sure the robot can

follows required trajectory path?
• What are the angles needed to
be set to obtain the required
position?
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Reference Frames

𝚺𝐞
• Σ𝑤 : World reference frame
• Σ𝑒 : End-effector reference frame
• Σ𝑐 : Cylinder reference frame
• Σ𝑏 : Box reference frame
𝚺𝐛
𝚺𝐰
𝚺𝐜

All joints and object can be described by the position and orientation
with the aid of reference frames.

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 EMJ37303 ROBOTIC SYSTEMS
Coordinate Systems

Left Handed Right Handed

𝑧
𝑧

𝑦
𝑥
𝑥
𝑦
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 EMJ37303 ROBOTIC SYSTEMS
Robot Kinematics

Forward Kinematics
VS
Inverse Kinematics

What the differences between both approaches?

How to solve both?

Which one should be used?

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Forward Kinematics VS Inverse Kinematics

(𝒙, 𝒚)
Forward Kinematics:
𝜽2 To determine the end-effector
position based on joint’s angle

(𝜽1 , 𝜽2 ) (𝒙, 𝒚)
𝒀 Forward
Kinematics

𝜽1
Inverse Kinematics:
𝑿 To determine the joint’s angle
based on end-effector position

(𝒙, 𝒚) (𝜽1 , 𝜽2 )
Inverse
Kinematics
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 EMJ37303 ROBOTIC SYSTEMS
Vector Calculus

• Vector representation

• Transpose

• Magnitude

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 EMJ37303 ROBOTIC SYSTEMS
Locating Object

How to locate an object?

𝑧 • Position
P 𝑎𝑥
𝑃 = 𝑏𝑦 = 𝑎𝑥 𝑏𝑦 𝑐𝑧 𝑇
𝑐𝑧
𝑎𝑥
𝐴 𝑇
𝐴
𝑷BORG 𝑷BORG = 𝑏𝑦 = 𝑎𝑥 𝑏𝑦 𝑐𝑧
𝑐𝑧
𝑦

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 EMJ37303 ROBOTIC SYSTEMS
Locating Object

How to locate an object?

• Position
P
• Orientation
𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴
𝐴 𝒙 𝐵 ∙ 𝒚𝐴 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴
{B} 𝐵𝑅 =
𝐴
𝑷BORG 𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴

𝒙𝐴 Dot Product
𝒙𝐵 𝒙𝐴 ∙ 𝒙𝐵 = 𝒙𝐴 𝒙𝑩 cos (𝜃)
𝑍መ𝐵
𝜃 Since the magnitude of unit vector is 1, then
𝒙𝐴 ∙ 𝒙𝐵 = cos (𝜃)

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 EMJ37303 ROBOTIC SYSTEMS
Locating Object (General)

𝐴 𝑇
𝑷BORG = 𝑋𝐵𝑂𝐴 𝑌𝐵𝑂𝐴 𝐶𝐵𝑂𝐴

𝐵 𝑇
𝑷 = 𝑋𝐵 𝑌𝐵 𝑍𝐵
𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴
𝐴 𝒙 𝐵 ∙ 𝒚𝐴 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴
P 𝐵
𝑷 𝐵𝑅 =
𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴

𝐴
𝑷
𝐴
𝑷BORG
General Form:
𝐴
𝑷 = 𝐵𝐴𝑅 𝐵𝑷 + 𝐴𝑷BORG

𝑋𝐴 𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴 𝑋𝐵 𝑋𝐵𝑂𝐴
𝑌𝐴 = 𝒙𝐵 ∙ 𝒚𝐴 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴 𝑌𝐵 + 𝑌𝐵𝑂𝐴
𝑍𝐴 𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴 𝑍𝐵 𝑍𝐵𝑂𝐴
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 EMJ37303 ROBOTIC SYSTEMS
Locating Object (General)

𝐴
General Form: 𝑷 = 𝐵𝐴𝑅 𝐵𝑷 + 𝐴𝑷BORG
𝐴
Conceptual Form: 𝑷 = 𝐵𝐴𝑇 𝐵𝑷

𝐴 𝐴 𝐴 𝐵
𝑷 = 𝐵𝑅 𝑷BORG 𝑷
1 0 0 0 1 1

𝑋𝐴 𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴 𝑋𝐵𝑂𝐴 𝑋𝐵
𝑌𝐴 𝒙 ∙𝒚 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴 𝑌𝐵𝑂𝐴 𝑌𝐵
= 𝐵 𝐴
𝑍𝐴 𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴 𝑍𝐵𝑂𝐴 𝑍𝐵
1 0 0 0 1 1
Homogenous Transformation Matrix
𝐴
𝐵𝑻
Homogeneous Transformation Matrix can describe both orientation and
position by a single square matrix. Why?
• It is much easier to calculate the inverse of square matrices.
• To multiply two matrices, their dimensions must match.
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Transformation

• Fixed frame:
Moving Frame
Fixed or reference frame is
referring to a frame that 𝑧𝐵
usually used as global 𝑦𝐵
reference frame. The frame 𝑧𝐴 𝐴
𝑷𝐵𝑂𝑅𝐺
is static and fixed.
𝑥𝐵
• Moving frame 𝑦𝐴
𝑥𝐴
Moving or current frame is
Fixed Frame
referring to the frame that is
currently moving or
operated
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Pure Translation and Rotation
Assume that initial position and orientation of frame B is similar to frame A
𝐴
Pure Translation: 𝑃 = 𝐵𝑃 + 𝐴𝑃𝐵𝑂𝑅𝐺 Pure Rotation: 𝐴
𝑃 = 𝐵𝐴𝑅 𝐵𝑃
𝑧𝐴 𝑧𝐴

𝑧𝐵
𝑧𝐵
𝑦𝐵
𝑦𝐴
𝑦𝐴
𝑥𝐴 𝑥𝐴
𝑦𝐵
𝑥𝐵
𝑥𝐵

1 0 0 𝑋𝐵𝑂𝐴 𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴 0
𝐴 0 1 0 𝑌𝐵𝑂𝐴 𝐴 𝒙 𝐵 ∙ 𝒚𝐴 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴 0
𝐵𝑻 = 𝐵𝑻 =
0 0 1 𝑍𝐵𝑂𝐴 𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴 0
0 0 0 1 0 0 0 1
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 EMJ37303 ROBOTIC SYSTEMS
Pure Translation

No rotation, so this part is

equal to Identity Matrix Represents the frame before translation

This column represents the translation

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 EMJ37303 ROBOTIC SYSTEMS
Pure Rotation

𝑅11 𝑅12 𝑅13 0

𝑅 𝑅22 𝑅23 0
𝑇 = 21
𝑅31 𝑅32 𝑅33 0
0 0 0 1

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 EMJ37303 ROBOTIC SYSTEMS
Rotation Matrix
𝒙𝐵 ∙ 𝒙𝐴 𝒚𝐵 ∙ 𝒙𝐴 𝒛𝐵 ∙ 𝒙𝐴
𝐴 Solve based on current
𝐵𝑅 =
𝒙 𝐵 ∙ 𝒚𝐴 𝒚𝐵 ∙ 𝒚𝐴 𝒛𝐵 ∙ 𝒚𝐴
information of orientation
𝒙𝐵 ∙ 𝒛𝐴 𝒚𝐵 ∙ 𝒛𝐴 𝒛𝐵 ∙ 𝒛𝐴

Alternative: Solving based on rotation angle Alibi Transformation

Alias Transformation

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 EMJ37303 ROBOTIC SYSTEMS
Rotation Matrix

Rotation about 𝒛-axis: 𝐑𝐨𝐭 𝑧, 𝛾

𝑃1 (𝑥1 , 𝑦1 , 𝑧1 )

𝛾 𝑟 𝑃0 (𝑥0 , 𝑦0 , 𝑧0 )
𝜃
𝑥

Try solving the rotation matrix around

𝑥 and 𝑦 axis. 19
 EMJ37303 ROBOTIC SYSTEMS
Rotation Matrix

• By assuming the rotation around 𝑥-, 𝑦-, and 𝑧-axis as 𝛼, 𝛽

and 𝛾, the respective rotation matrix are:

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 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Fixed Frame

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 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Fixed Frame

𝑇1 = rot(𝑧, 90°) 𝑇2 = rot(𝑦, 90°) 𝑇3 = trans(4, −3,7)

𝑇 = 𝑇3 𝑇2 𝑇1 22
 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Fixed Frame

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 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Fixed Frame

𝑇1 = rot(𝑧, 90°) 𝑇2 = trans(4, −3,7) 𝑇3 = rot(𝑦, 90°)

𝑇 = 𝑇3 𝑇2 𝑇1 24
 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Moving Frame

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 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Moving Frame

𝑇1 = rot(𝑎, 90°) 𝑇2 = trans(4, −3,7) 𝑇3 = rot(𝑜, 90°)

𝑇 = 𝑇1 𝑇2 𝑇3 26
 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Moving & Fixed Frame

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 EMJ37303 ROBOTIC SYSTEMS
Combined Transformations
Relative to Moving & Fixed Frame

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 EMJ37303 ROBOTIC SYSTEMS
Summary: Combined Transformation

Assume for transformation 𝑇1 , 𝑇2 , 𝑇3

• Transformations relative to Fixed Frame
𝑇 = 𝑇3 𝑇2 𝑇1
• Transformations relative to Moving Frame
𝑇 = 𝑇1 𝑇2 𝑇3

Assume for transformation 𝑇1 , 𝑇2 , 𝑇3 , 𝑇4 . Where,

𝑇1 and 𝑇3 are relative to Fixed Frame, while 𝑇2 and 𝑇4
are relative to Moving Frame.
𝑇 = 𝑇3 𝑇1 𝑇2 𝑇4

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Inverse Transformation

𝑧𝐵
𝑧𝐴
𝑦𝐵
𝐵
𝑷𝑨𝑂𝑅𝐺

𝐴
𝑷𝐵𝑂𝑅𝐺
𝑥𝐴 𝑥𝐵
𝑦𝐴
𝐵
𝐴 𝐴 𝑷AORG
𝐴 𝐵𝑅 𝑷BORG
𝐵𝑇 =
0 0 0 1

𝐴 −1 𝐵
𝐴 𝑇
𝐵𝑅 − 𝐵𝐴𝑅𝑇 𝐴𝑷BORG
𝐵𝑇 = 𝐴𝑇 =
0 0 0 1

𝑅 −1 = 𝑅𝑇 , 𝑇 −1 ≠ 𝑇 𝑇 𝐵
𝐴𝑅

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Compound Transformations

𝑈
𝐸𝑇 = 𝑈𝑅𝑇 𝐻𝑅𝑇 𝐻𝐸𝑇= 𝑈𝑃𝑇 𝐸𝑃𝑇
𝑅
𝐻𝑇 =?

𝑈 −1 𝑈 𝑅 𝐻 𝐻 −1 𝑈 −1 𝑈 𝑃 𝐻 −1 𝐴 𝐵 −1
𝑅 𝑇 𝑇 𝑇
𝑅 𝐻 𝐸 𝑇 𝐸 𝑇 = 𝑅𝑇 𝑃𝑇 𝐸 𝑇 𝐸 𝑇 𝐵 𝑇 𝐴𝑇 =I

𝑅 𝑈 −1 𝑈 𝑃 𝐻 −1
𝐻𝑇 = 𝑅𝑇 𝑃𝑇 𝐸 𝑇 𝐸 𝑇

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 EMJ37303 ROBOTIC SYSTEMS
Compound Transformations
𝐴
𝑃 = 𝐵𝐴𝑇 𝐵𝑃

𝐵
𝑃

𝐵
𝑃 = 𝐵𝐶𝑇 𝐶𝑃

𝐴 𝐵
𝐴 𝐴 𝐵 𝐴
𝐴 𝐵
𝐵𝑅 𝐶 𝑅 𝐵𝑅 𝑷CORG + 𝐴𝑷BORG
𝑃= 𝐵𝑇 𝑃 𝐶𝑇 =
𝐴 𝐴 𝐵 𝐶 0 0 0 1
𝑃= 𝐵𝑇 𝐶 𝑇 𝑃

∴ 𝐵𝐴𝑇 𝐵𝐶𝑇 = 𝐴𝐶𝑇 32

 EMJ37303 ROBOTIC SYSTEMS
Compound Transformations
{C}

B
C
T
C {B}
D T
{D}

A
C
T T
B
T CBT CDT DAT = I
E A
B

D
{A} T = CDT DET = CBT −1 ABT −1 EAT −1
C
E
T
E
E
T
A
C
BT BAT EAT

{E}

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 EMJ37303 ROBOTIC SYSTEMS
Compound Transformations
{C}
T = CDT DET EAT ABT
C
B
C
C
T
B {B}
D T
{D}

A
BT

{A}
D
T
E
E
T
A
T = DET −1 CDT −1 CBT ABT −1
E
A

{E}
I = EAT −1 DET −1 CDT −1 CBT ABT −1

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 EMJ37303 ROBOTIC SYSTEMS
Exercise
Exercise 1
Solution:
𝑧𝐵 Position:
𝑦𝐵 𝐴 𝑇
𝑷𝐵𝑂𝑅𝐺 = 3 4 5
𝑧𝐴 𝐴
𝑷𝐵𝑂𝑅𝐺
Orientation:
cos 30° cos 90° cos 60°
𝑦𝐴 𝑥𝐵 𝐴
𝐵𝑅 = cos 90° cos 0° cos 90°
𝑥𝐴 cos 120° cos 90° cos 30°

Thus, frame B can be described with

Frame B is located at 3,4,5 unit from respect to frame A by
frame A, with yB axis is parallel to yA
√3 1
axis. Its xB and zB at 30 deg relative to 2
0 2
3
xA and zA due to a 30 deg rotation
around yB axis. Describe Frame B with
𝐴
𝐵𝑇 = 0 1 0 4
−12 0 √3
2 5
respect to frame A.
0 0 0 1

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Transformation: Summary
{B} Description of a frame

{A}  A
BR
A
PBORG 
A
BT =  
A
PBORG 0 0 0 1 

{B} Transform Mapping

B
P
{A} A P
A
P = ABT B P
A  A P   BA R A
PBORG   B P 
 =
PBORG
 
 1  0 0 0 1  1 

Transform Operator
A
P2 = T A P2 A
P2 = A P2 + Q
{A} A P Q (vector operation)
2 1 0 0 qx 
A
P1  A P2  0 1 0 q y   A P1 
  = 0  
 1   0 1 qz   1 
 
0 0 0 1 36