LECTURE 4

Point
PRE-LECTURE QUIZ C
Question 1 𝐶𝐶
𝑃𝑃
𝐴𝐴
𝑃𝑃

𝐵𝐵
𝐴𝐴 𝐶𝐶 𝑇𝑇
𝐵𝐵𝑇𝑇
 Point
PRE-LECTURE QUIZ C
𝐶𝐶
Question 1 : Point P located in frame {C} can
be represent as 𝐶𝐶 𝑃𝑃 .Point P also is relative to
𝑃𝑃
frame {A} as 𝐴𝐴 𝑃𝑃. Where, 𝑃𝑃 = 𝐴𝐴𝐶𝐶 𝑇𝑇 𝑃𝑃 .
𝐴𝐴 𝐶𝐶

1 1

𝐴𝐴
𝑃𝑃

𝐵𝐵
𝐴𝐴 𝐶𝐶 𝑇𝑇
𝐵𝐵𝑇𝑇
 PRE-LECTURE QUIZ 𝐴𝐴
𝑃𝑃
Question 2 : 𝐵𝐵𝐶𝐶 𝑇𝑇can be define as 𝐵𝐵𝐶𝐶 𝑇𝑇 = 𝑈𝑈𝐵𝐵 𝑇𝑇 −1 𝑈𝑈𝐴𝐴 𝑇𝑇 � 𝐷𝐷𝐴𝐴 𝑇𝑇 𝐷𝐷𝐶𝐶 𝑇𝑇

𝐴𝐴
𝐷𝐷𝑇𝑇
𝐶𝐶
𝐷𝐷𝑇𝑇

𝑈𝑈
𝐴𝐴𝑇𝑇
𝐵𝐵
𝐶𝐶 𝑇𝑇
𝑈𝑈
𝐵𝐵𝑇𝑇
PRE-LECTURE QUIZ

Question 3 : The inverse matrix for 𝐵𝐵𝐴𝐴 𝑇𝑇 = 𝐵𝐵𝐴𝐴 𝑇𝑇 −1 = 𝐵𝐵𝐴𝐴 𝑇𝑇 𝑇𝑇

Question 4 : Rotational matrices include 3 independent variables and 6 relations.

Question 5 : The order of multiplication is not related to the order of the rotation:
𝐴𝐴 𝐵𝐵 𝐵𝐵 𝐴𝐴
𝐵𝐵 𝑅𝑅 � 𝐶𝐶 𝑅𝑅 = 𝐶𝐶 𝑅𝑅 � 𝐵𝐵 𝑅𝑅
 Summary Of Interpretations

Using mind map, please summaries the topics we done last lecture. Explain each topics
using your own keywords and List the representation and equations for each topic.

Descriptions: Positions, Orientations, And Frames

Mappings: Changing Descriptions From Frame To Frame

Operators: Translations, Rotations, And Transformations

TRANSFORMATION
ARITHMETIC
THE MULTIPLICATION OF TRANSFORMS
AND THE INVERSION OF TRANSFORMS.
COMPOUND
TRANSFORMATIONS
Activity 1(A)
Frame {B} is rotated relative to frame {A} about x-axis by
60° and translated 5 units in x-axis and 2 units in y-axis.
Frame {C} is rotated relative to frame {B} about y-axis by
30° and translated 4 units in x-axis and 5 units in z-axis.

• Show the transformation graphically.

8
𝐶𝐶
• Find the position of P relative to frame {A} if 𝑃𝑃 = 7
9
Activity 1(B)
Frame {B} is rotated relative to frame {A} about y-axis by
60° and translated 5 units in y-axis and 2 units in z-axis.
Frame {C} is rotated relative to frame {B} about z-axis by
30° and translated 4 units in x-axis and 6 units in z-axis.

• Show the transformation graphically.

8
𝐶𝐶
• Find the position of P relative to frame {A} if 𝑃𝑃 = 7
9
Inverting a transform
Consider a frame {B} that is known with respect to a frame {A} 𝐵𝐵𝐴𝐴𝑇𝑇

What is the description for a frame {A} with respect to a frame {B} 𝐴𝐴𝐵𝐵𝑇𝑇 ?

THE INVERSE OF A HOMOGENEOUS TRANSFORM

Example 2
Frame{B} is rotated relative to frame{A} about z-axis by
30° and translated 4 units in x-axis and 3 unit in y-axis.
Find the transformation that describe frame{A} relative to
frame{B}.
Activity 2(A)
Frame{B} is rotated relative to frame{A} about x-axis by
40° and translated 5 units in x-axis and 3 unit in z-axis.

• Show the transformation graphically.

• Find the transformation that describe frame{A} relative
to frame{B}.
Activity 2(B)
Frame{B} is rotated relative to frame{A} about y-axis by
40° and translated 5 units in y-axis and 3 unit in z-axis.

• Show the transformation graphically.

• Find the transformation that describe frame{A} relative
to frame{B}.
TRANSFORM EQUATIONS

The bolt frame relative to the hand frame is

 𝐴𝐴
Activity 3(A) 𝑃𝑃
Write the transformation for 𝐷𝐷𝐵𝐵 𝑇𝑇 and 𝐴𝐴𝐶𝐶 𝑇𝑇
from the defined transformation in figure.
𝐷𝐷
𝐸𝐸 𝑇𝑇
𝐷𝐷
𝐶𝐶 𝑇𝑇

𝐴𝐴
𝐸𝐸 𝑇𝑇
𝐵𝐵
𝐶𝐶 𝑇𝑇
𝐴𝐴
𝐵𝐵𝑇𝑇
 𝐴𝐴
Activity 3(B) 𝑃𝑃
Write the transformation for 𝐸𝐸𝐶𝐶 𝑇𝑇and 𝐷𝐷𝐶𝐶 𝑇𝑇
from the defined transformation in figure.
𝐷𝐷
𝐸𝐸 𝑇𝑇
𝐷𝐷
𝐶𝐶 𝑇𝑇

𝐴𝐴
𝐸𝐸 𝑇𝑇
𝐵𝐵
𝐶𝐶 𝑇𝑇
𝐴𝐴
𝐵𝐵𝑇𝑇
Activity 4(A)
Find 𝑈𝑈𝐵𝐵 𝑇𝑇if the following transformation matrices are
defined as:
0.866 0.5 0 −4.964
𝑈𝑈 0 1 0 −0.598
𝐴𝐴 𝑇𝑇 =
−0.5 0.866 0 0
0 0 0 1
1 0 0 6
𝐵𝐵 0 0.5 −0.866 0
𝐴𝐴 𝑇𝑇 =
0 0.866 0.5 5
0 0 0 1
Activity 4(B)
Find 𝑈𝑈𝐵𝐵 𝑇𝑇if the following transformation matrices are
defined as:
1 0 0 −4.964
𝑈𝑈 0 0.5 −0.866 0
𝐴𝐴 𝑇𝑇 =
−0.5 0.866 0 5
0 0 0 1
0.866 0.5 0 6
𝐵𝐵 0 1 0 −0.598
𝐴𝐴 𝑇𝑇 =
0 0.866 0.5 0
0 0 0 1
X—Y—Z fixed angles

Start with the frame {B} coincident with a known reference frame {A}.

First, rotate {B} Then, rotate Then, rotate

about 𝑥𝑥�𝐴𝐴 by an {B} about 𝑦𝑦�𝐴𝐴 by {B} about 𝑧𝑧𝐴𝐴̂ by
angle 𝛾𝛾 an angle 𝛽𝛽 an angle 𝛼𝛼
The rotations are specified about the fixed (i.e., Nonmoving) reference frame
X—Y—Z fixed angles

ROLL PITCH YAW

𝑅𝑅𝑥𝑥 𝛾𝛾 𝑅𝑅𝑦𝑦 𝛽𝛽 𝑅𝑅𝑧𝑧 𝛼𝛼
Activity
Frame {B} was initially coincident with {A}. We then
rotated {B} about 𝑍𝑍𝐴𝐴 -axis by 45°. The we rotated it about
𝑌𝑌𝐴𝐴 -axis by 60°, the we rotated about 𝑋𝑋𝐴𝐴 -axis by 30°.
Calculate the resultant rotation matrix 𝐵𝐵𝐴𝐴𝑅𝑅
Activity
Find the X-Y-Z fixed angles of rotation (𝛾𝛾, 𝛽𝛽, 𝛼𝛼) for the
following rotation matrix

0.1677 0.9513 0.9077

𝐴𝐴
𝐵𝐵𝑅𝑅 = −0.2588 0.9408 −0.0760
0.3304 0.2989 −0.2946
Z-Y-X Euler angles

Start with the frame {B} coincident with a known reference frame {A}.

First, rotate {B} Then, rotate Then, rotate

about 𝑍𝑍̂𝐵𝐵 by an {B} about 𝑌𝑌�𝐴𝐴 by {B} about 𝑋𝑋�𝐵𝐵
angle 𝛼𝛼 an angle 𝛽𝛽 by an angle 𝛾𝛾
Each rotation takes place about an axis whose location depends upon the preceding rotations.
Z-Y-X Euler angles

Start with the frame {B} coincident with a known reference frame {A}.
Activity
1. Frame {B} was initially coincident with{A}. We the rotated
about {B} about 𝑋𝑋𝐵𝐵 -axis by 35°. Then we rotated the new
frame about its 𝑌𝑌𝐵𝐵 -axis by 25°, the we rotated the frame
about 𝑍𝑍𝐵𝐵 -axis by 45°. Calculate the resultant rotation matrix.
2. Find the Z-Y-X Euler angles of rotation ( 𝛼𝛼, 𝛽𝛽, 𝛾𝛾 ) for the
following rotation matrix
0.1677 0.9513 0.9077
𝐴𝐴
𝐵𝐵𝑅𝑅 = −0.2588 0.9408 −0.0760
0.3304 0.2989 −0.2946
Activity
1. Explained about Equivalent angle—axis representation.
2. Frame {B} was initially coincident with frame{A}. We then rotate
� = 0.522 0.5672 0.6367 𝑇𝑇 by
{B} relative to {A} vector 𝐴𝐴𝐾𝐾
angle 𝜃𝜃 = 87.34°. Find the resultant notation matrix 𝐵𝐵𝐴𝐴𝑅𝑅.
3. Find the equivalent single axis rotation fot the following matrix:
0.919 0.306 −0.25
𝑅𝑅 = −0.177 0.884 0.433
0.354 −0.354 0.866