Chapter 3-2. Rigid Body Motion

Prof.
Minsung Kim
Division of Electronics and Electrical Engineering
Dongguk University – Seoul Campus
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Rigid-Body Motions and Twists
∎ Homogeneous TransformationMatrices
•Extension, but analogous to rigid-body configurations and velocities
in previous chapter.
• Homogenous transformation matrix T is analogous to the rotation
matrix R
• Screw matrix S is analogous to the rotation axis 𝒘
ෝ
• Twist V can be expressed as S𝜃,ሶ analogous to an angular velocity
w=𝒘
ෝ 𝜽ሶ
• Exponential coordinates 𝐒𝜽 are analogous to exponential coordinates
ෝ𝜽
𝒘
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• Consider the representations for the combined orientation and
positionof a rigid body.
• The special Euclidean group 𝑺𝑬(𝟑), also known as homogeneous
transformation matrices, is the set of all 4 × 4 real matrices T of the
form
where 𝑅 ∈ 𝑆𝑂(3) and 𝑝 ∈ 𝑅3 is a column vector.

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∎ Transformation Matrices – 1. Representinga configuration
• The fixed frame {s} is coincident with {a} and the frames {a}, {b}, and
{c}, represented by 𝑻𝒔𝒂 = (𝑹𝒔𝒂, 𝒑𝒔𝒂), 𝑻𝒔𝒃 = (𝑹𝒔𝒃, 𝒑𝒔𝒃), and 𝑻𝒔𝒄 = (𝑹𝒔𝒄,
𝒑𝒔𝒄), respectively, can be expressedrelative to {s} by the rotations
• The location of the origin of each frame relative to {s} can be written
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∎ Transformation Matrices – 2. Changing the reference frame
• Any vector v expressed in {b} as 𝑣𝑏,
where is the vector v expressedin {a}
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Exercise 3.17
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Exercise 3.17
Four reference frames are shown in the robot workspace of Fig. 3.23: the
fixed frame {a}, the end-effector frame effector {b}, the camera frame {c},
and the workpiece frame {d}.
(a) Find 𝑇𝑎𝑑 and 𝑇𝑐𝑑 in terms of the dimensionsgiven in the figure.
(b) Find 𝑇𝑎𝑏 given that
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Exercise 3.17 - Sol.
(a)
(b) 𝑇𝑎𝑏𝑇𝑏𝑐 𝑇𝑐𝑑 = 𝑇𝑎𝑑 . Thus, 𝑇𝑎𝑏 = 𝑇𝑎𝑑 (𝑇𝑏𝑐 𝑇𝑐𝑑 )−1
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Exercise 3.17 - Sol.
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Example 3.19
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Example 3.19
Fig. 3.16 shows a robot arm mounted on a wheeled mobile platform
moving in a room, and a camera fixed to the ceiling.
Frames {b} and {c} are respectively attached to the wheeled platform
and the end-effector of the robot arm, and frame {d} is attached to the
camera.
A fixed frame {a} has been established, and the robot must pick up an
object with body frame {e}.
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Example 3.19
Suppose that the transformations 𝑻𝒅𝒃 and 𝑻𝒅𝒆 can be calculated from
measurements obtained with the camera. The transformation 𝑻𝒃𝒄 can
be calculated using the arm's joint-angle measurements. The
transformation 𝑻𝒂𝒅 is assumed to be known in advance.
Suppose these calculated and known transformations are given as
follows:
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Example 3.19
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Example 3.19 – Sol.
In order to calculate how to move the robot arm so as to pick up the
object, the configuration of the object relative to the robot hand, 𝑇𝑐𝑒 , must
be determined.
We know that
𝑇𝑎𝑏𝑇𝑏𝑐𝑇𝑐𝑒 = 𝑇𝑎𝑑 𝑇𝑑𝑒
Since 𝑇𝑎𝑏 = 𝑇𝑎𝑑 𝑇𝑑𝑏, we can determine 𝑇𝑐𝑒 as
𝑇𝑐𝑒 = (𝑇𝑎𝑑 𝑇𝑑𝑏𝑇𝑏𝑐)−1𝑇𝑎𝑑 𝑇𝑑𝑒
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From the given transformations,
we obtain
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∎ Transformation Matrices – 3. Displacinga vector or a frame.
• Rotates without translating
• Translateswithout rotating
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• Rotates whether we pre-multiply or post-multiply 𝑻𝒔𝒃 by 𝑻 = (𝑹, 𝒑)
determines whether the 𝜔-axis
ො and 𝑝 are interpreted as in the fixed
frame {s} or in the body frame {b}:
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• Fixed-frame and body-frame transformations for a transformation T
with 𝜔ො = (0,0,1), 𝜃 = 90°, and p = (0, 2, 0), yielding
• Beginning with the frame {b} representedby
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• The new frame {𝑏′} and {𝑏′′} are given by
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∎ Twists
• Considerboth the linear and angular velocitiesof a moving frame.
• Given a fixed (space) frame {s}, a body frame {b}, and a
differentiable𝑻𝒔𝒃(𝒕) ∈ 𝑺𝑬(𝟑), where
𝑅(𝑡) 𝑝(𝑡)
𝑇𝑠𝑏 𝑡 = 𝑇(𝑡) =
0 1
denote the configurationof {b} as seen from {s}.
• Discover the result of pre- or post-multiplying 𝑻ሶ by 𝑻−𝟏.
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∎ Twists
• Let us first see what happens when we pre-multiply 𝑻ሶ by 𝑻−𝟏.
Linear velocity of the origin of {b}

expressed in the fixed frame {s}
Angular velocity expressed Linear velocity of a point at the

in {b} coordinates origin of {b} expressed in the frame {b}
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∎ Twists
• Merge 𝜔𝑏 into 𝑣𝑏 a single six-dimensional velocity vector. We define the
spatial velocity in the body frame to be
• Stretch the [∙] notation,
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∎ Twists
• We have a physical interpretationfor 𝑇𝑇
ሶ −1
Linear velocity of a point at the
Angular velocity expressed origin of {b} expressed in the frame {s}
in {s} coordinates
Linear velocity of a point at the
origin of {s} expressed in the frame {s}
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∎ Twists
• We define the spatial velocity in the space frame to be
• Stretch the [∙] notation,
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∎ Twists
• We obtain 𝑉𝑏 from 𝑉𝑠
• Going the other way
• Writing out the products in above eq., we have
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∎ Twists
• Using 𝑅 𝑤 𝑅𝑇 = [𝑅𝑤] and [𝑤]𝑝 = −[𝑝]𝑤, we have
Adjoint representation
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∎ Twists
Practice Exercise 3.14.
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∎ Twists
Consider the scene in Fig. 3.8 of a quadcopter {q} flying near a tree {t}
and house {h}.
The quadcopter is at a position = (10, 5, 5) m expressed in the tree frame
{t}, and the house is at a position = (0, 10, 10) m expressed in the tree
frame {t}.
The quadcopter is flying upwards with a velocity of 1 m/s, and rotating
with a velocity of 1 rad/s.
Calculate the quadcopter's twist in {q}, {t}, and {h}.
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∎ Twists
Practice Exercise 3.14 – Sol.
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∎ The Screw Interpretationof a Twist
• A twist V can be interpreted in terms of a screw axis S and a velocity 𝜽ሶ
about the screw axis Translation along
the screw axis
Linear motion at the origin

induced by rotation about
the axis
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• Using Fig. 3.19 and geometry, we have
• S is the normalized version of twist V,
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Practice Exercise 3.6
The zero-pitch screw axis in Figure 3.4, aligned with 𝑧𝑎Ƹ , passes through
the point (-2, 1, 0) in the {a} frame. What is the twist 𝑉𝑎 if we rotate about
the screw axis at a speed 𝜃ሶ = 5 rad/s?
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The screw axis can be written 𝑆𝑎 = (𝑆𝑤𝑎, 𝑆𝑣𝑎 ).
→ The angular component is 𝑆𝑤𝑎 = (0,0,1), since the screw axis is aligned
with 𝑧𝑎Ƹ .
→ The linear component is 𝑆𝑣𝑎 =-𝑆𝑤𝑎 × 𝑞, where q = (-2, 1 ,0), so 𝑆𝑣𝑎 = (1,
2, 0).
→ The entire screw is then 𝑆𝑎 = (0, 0, 1, 1, 2, 0). The twist is 𝑉𝑎 = 𝜃𝑆
ሶ 𝑎 = (0,
0, 5, 5, 10, 0).
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∎ Twists
Example 3.23
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∎ Twists
Example 3.23
Fig. 3.18 shows a top view of a car, with a single steerable front wheel,
driving on a plane. The 𝑧𝑏Ƹ -axis of the body frame {b} is into the page
and the 𝑧𝑠Ƹ -axis of the fixed frame {s} is out of the page.
The angle of the front wheel of the car causes the car's motion to be a
pure angular velocity w = 2 rad/s about an axis out of the page at the
point r in the plane.
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∎ Twists
Example 3.23
Inspecting the figure, we can write r as
𝑟𝑠 = 2, −1,0
𝑟𝑏 = 2, −1.4,0
𝜔𝑠 = 0, 0,2
𝜔𝑏 = 0,0,−2
and
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∎ Twists
From the figure and simple geometry, we have
𝑣𝑠 = 𝑝ሶ + 𝑤𝑠 × −𝑝 = −2.8,4,0 + 0,0,2 × −4,−0.4,0 = (−2,−4,0)

and thus obtain
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∎ Exponential Coordinate Representation of Rigid-Body Motions
• Exponentialcoordinates of a homogeneoustransformation T as S𝜃
• S is the screw axis and 𝜽 is the distance that must be traveled along
the screw axis to take a frame from the origin I to T
• Expanding matrix exponentialin series form leads to
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Wrenches
∎ Wrenches
• Considera linear force f acting on a rigid body at a point r.
• Defining a reference frame {a}, the point r can be represented as 𝑟𝑎 ∈ 𝑅3
and the force f can be representedas 𝑓𝑎 ∈ 𝑅3
• This force creates a torque or moment 𝒎𝒂 ∈ 𝑅3 in the {a} frame:
𝒎𝒂 = 𝒓𝒂 × 𝒇𝒂
• Just as with twists, we can merge the moment and force into a single six-
dimensional spatial force, or wrench, expressedin the {a} frame, 𝐹𝑎 :
𝑚𝑎
𝐹𝑎 = 𝑓 ∈ 𝑅6
𝑎
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Wrenches
∎ Wrenches
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Wrenches
∎ Wrenches
• A wrench in the {a} frame can be representedin another frame {b}
• A simpler and more insightful way to derive the relationship between 𝑭𝒂
and 𝑭𝒃 is to
(1) Use the results we have already derived relating representation𝑣𝑎 and 𝑣𝑏
(2) Use the fact that the power generated by an (𝐹, 𝑉) pair must be the
same regardless of the frame in which it is represented
- Recall that the dot product of a force and a velocity is a power
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Wrenches
∎ Wrenches
• Using
• Since this must hold for all 𝑣𝑏, this simplifies to
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Wrenches
∎ Wrenches
• Given a wrench F, represented in {a} as 𝑭𝒂 and in {b} as 𝑭𝒃, the two
representations are related by
• Since we usually have a fixed space frame {s} and a body frame {b}, we
can define a spatial wrench 𝑭𝒔 and a body wrench 𝑭𝒃
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Wrenches
∎ Wrenches
Example 3.28
The robot hand is holding an apple with a mass of 0.1 kg in a
gravitational field g=10 m/𝑠 2. The mass of the hand is 0.5 kg.
What is the force and torque

measured by the six-axis force-
torque sensor between the hand
and the robot arm?
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Wrenches
∎ Wrenches
Frame {f} at the force-torque sensor,
Frame {h} at the center of mass of the hand,
and frame {a} at the center of mass of the apple.
The gravitational wrench on the hand in {h} is given by the column vector
And the gravitational wrench on the apple in {a} is
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Wrenches
∎ Wrenches
Given 𝐿1 = 10 cm and 𝐿2 = 15 cm, the transformation matrices are
The wrench measured by the six-axis force-torque sensor is
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Wrenches
∎ Wrenches
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Wrenches
∎ Wrenches
Consider the scene in Fig. 3.10 of a tree {t} and a frame {b} attached
to its branch.
The figure shows a strong wind that applies a force of 100 N at the center
of frame {b}.
Assume the branch has a mass of 50 kg centeredat frame {b} as well.
The position of the branch frame {b} in the tree frame {t} is {t} = (2, 1, 3) m.
(a) What is the wrench 𝐹𝑏 due to the wind and the branch's weight?
(b) What is this wrench in the tree frame {t}?
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Wrenches
∎ Wrenches
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Chapter 3-2. Rigid Body Motion

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Chapter 3-2. Rigid Body Motion

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Prof.

where 𝑅 ∈ 𝑆𝑂(3) and 𝑝 ∈ 𝑅3 is a column vector.

where is the vector v expressedin {a}

• Beginning with the frame {b} representedby

Linear velocity of the origin of {b}

Angular velocity expressed Linear velocity of a point at the

• Stretch the [∙] notation,

Linear velocity of a point at the

Angular velocity expressed origin of {b} expressed in the frame {s}

• Stretch the [∙] notation,

• Going the other way

• Writing out the products in above eq., we have

Linear motion at the origin

• S is the normalized version of twist V,

𝑣𝑠 = 𝑝ሶ + 𝑤𝑠 × −𝑝 = −2.8,4,0 + 0,0,2 × −4,−0.4,0 = (−2,−4,0)

• Since this must hold for all 𝑣𝑏, this simplifies to

What is the force and torque

And the gravitational wrench on the apple in {a} is

The wrench measured by the six-axis force-torque sensor is

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