Robot Reference Frames

– World frame
– Joint frame
– Tool frame
z
y
z x
y T P

W
x
R

1
 Robot Kinematics: Position Analysis

2.3 MATRIX REPRESENTATION

2.3.1 Representation of a Point in Space

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P  a x i  by j  c z k

Fig. Representation of a point in space

 Chapter 2
Robot Kinematics: Position Analysis

2.3 MATRIX REPRESENTATION

2.3.2 Representation of a Vector in Space

A Vector P in space :
3 coordinates of its tail and of its head

__ ^ ^ ^
P  a x i  by j  c z k
x
__  y
P 
z
 
 w
Fig. 2.4 Representation of a vector in space
 Coordinate Transformation
– Reference coordinate frame OXYZ
– Body-attached frame O’uvw
z
Point represented in OXYZ: P
Pxyz  [ p x , p y , p z ] T
y
w

Pxyz  p x i x  p y jy  p z k z v
x

Point represented in O’uvw:
O, O’
u
Puvw  pu i u  pv jv  pw k w
Two frames coincide ==> pu  p x pv  p y pw  p z
6
 Properties: Dot Product

Let x and ybe arbitrary vectors in and

R3
be the

angle from to x, theny
x  y  x y cos 
Properties of orthonormal coordinate frame
• Mutually perpendicular • Unit vectors
  
i  j 0 | i | 1
  
i k  0 | j | 1
  
k j 0 | k | 1
7
 Coordinate Transformation
• Coordinate Transformation
– Rotation only z
P

Pxyz  p x i x  p y jy  p z k z
 y
Puvw  pu i u  pv jv  pw k w w v
u
Pxyz  RPuvw x

How to relate the coordinate in these two frames?

8
 Basic Rotation
• Basic Rotation
– p x, p y, and p z represent the projections of P onto
OX, OY, OZ axes, respectively

– Since P  pu i u  pv jv  pw k w
p x  i x  P  i x  i u pu  i x  jv pv  i x  k w pw
p y  jy  P  jy  i u pu  jy  jv pv  jy  k w pw

p z  k z  P  k z  i u pu  k z  jv pv  k z  k w pw
10
 Basic Rotation Matrix
• Basic Rotation Matrix
 px   i x  i u i x  jv i x  k w   pu 
 p    j i j y  jv  
j y  k w   pv  
 y  y u
 p z  k z  i u k z  jv k z  k w   pw 
– Rotation about x-axis with 
z
w
1 0 0  P v

Rot ( x, )  0 C 
 S 

0 S C  y
u
x
11
 Is it True? Can we check?
•
– Rotation about x axis with 
 p x  1 0 0   pu 
 p   0 cos   
 sin    pv  
 y  z
 p z  0 sin  cos    pw  w
P v
p x  pu

p y  pv cos   pw sin 
y
p z  pv sin   pw cos  u
x
12
 Basic Rotation Matrices
– Rotation about x-axis with 
1 0 0 
Rot ( x, )  0 C  S 
0 S C 

– Rotation about y-axis with
 C 0 S 
Rot ( y, )   0 1 0 
 S 0 C 


– Rotation about z-axis with C  S 0
Pxyz  RPuvw Rot ( z ,  )   S C 0
 0 0 1
13
 Matrix notation for rotations
• Basic Rotation Matrix
 i x  i u i x  jv i x  k w 
R   jy  i u jy  jv jy  k w  Pxyz  RPuvw
k z  i u k z  jv k z  k w 
– Obtain the coordinate of Puvw from the coordinate of
Pxyz Dot products are commutative!

 pu   i u  i x i u  jy i u  k z   px 
 p    j i jv  j y

jv  k z   p y  Puvw  QPxyz
 v  v x
 pw  k w  i x k w  jy k w  k z   p z 
Q  R 1  RT
QR  RT R  R 1 R  I 3 <== 3X3 identity matrix

14
Example 2: rotation of a point in a rotating
frame
• A point auvw  (4,3,2)is attached to a rotating frame, the
frame rotates 60 degree about the OZ axis of the
reference frame.

• Find the coordinates of the point relative to the

reference frame after the rotation.

a xyz  Rot ( z,60)auvw

 0.5  0.866 0 4  0.598
 0.866 0.5 0 3   4.964 
 0 0 1 2  2 
15
Example 3: find a point of rotated system for point in
coordinate system
• A point axyz  (4,3,2is
) the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated OU-V-
W coordinate system if it has been rotated 60
degree about OZ axis.

auvw  Rot ( z,60)T a xyz

 0.5 0.866 0 4  4.598 
  0.866 0.5 0 3   1.964
 0 0 1 2  2 
• Reference coordinate frame OXYZ
• Body-attached frame O’uvw
 Robot Kinematics: Position Analysis

2.5 REPRESENTATION OF TRANSFORMATINS

2.5.1 Representation of a Pure Translation

A transformation is defined as making a movement in space.

• A pure translation.
• A pure rotation about an axis.
• A combination of translation or rotations.

1 0 0 dx 
0 1 0 d y 
T 
0 0 1 dz 
 
0 0 0 1
Fig. 2.9 Representation of an pure translation in space
 Coordinate Transformations
• position vector of P
in {B} is transformed
to position vector of P
in {A}

• description of {B} as
seen from an observer
in {A}

Rotation of {B} with respect to {A}

Translation of the origin of {B} with respect to origin of {A}

18
 Coordinate Transformations
• Two Special Cases
r  RB r  r
A P A B P A o'

1. Translation only
– Axes of {B} and {A} are
parallel A
R 1 B

2. Rotation only
– Origins of {B} and {A} are
coincident A o'
r 0
19
 Homogeneous Representation
• Coordinate transformation from {B} to {A}
r  ARB B r P  Ar o '
A P

 A r P   A RB 
A o'
r  r 
B P

   
 1   013 1  1 
• Homogeneous transformation matrix

 RB
A
r   R33
A o'
P31  Rotation

TB   
A matrix

 013 1   0 1  Position
vector
Scaling
20
 Homogeneous Transformation
• Special cases
1. Translation
 I 33 r 
A o'
A
TB   
013 1 

2. Rotation

 A
RB 031 
A
TB   
 013 1 

21
 Example 5: translation
• Translation along Z-axis with h:
1 0 0 0  x  1 0 0 0  pu   pu 
0 1 0 0   y  0 1 0 0  pv   pv 
Trans ( z , h)     
0 0 1 h  z  0 0 1 
h pw    pw  h 
        
0 0 0 1  1  0 0 0 1  1   1 
z z P
P
w y
y
w v
v
x O, O’
u x
h
O, O’
u
26
 Example 6: rotation
• Rotation about the X-axis by
1 0 0 0  x  1 0 0 0  pu 
0 C 0  y   0 C
 S  S 0  pv 
Rot ( x,  )    
 0 S C 0  z  0 S C 0  pw 
      
0 0 0 1  1  0 0 0 1  1 
z
w
P v

y
u
x
27
 Example 7: homogeneous
transformation
• Find the homogeneous transformation matrix (T)
for the following operations:
Rotation  about OX axis
Translation of a along OX axis
Translation of d along OZ axis
Rotation of  about OZ axis
T  Tz , Tz ,d Tx ,aTx , I 44

Answer :
C  S 0 0 1 0 0 0  1 0 0 a  1 0 0 0
 S C 0 0 0 1 0 0  0 1 0 0  0 C  S 0

 0 0 1 0  0 0 1 d  0 0 1 0   0 S C 0
    
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1
Homogeneous Representation
• A frame in space (Geometric
Interpretation) P( px , p y , pz )
z a (z’)
 R33 P31  s(y’)
F  
 0 1  n (X’)
y
 nx sx ax px 
n sy ay p y 
F  y
 nz sz az pz  x
 
0 0 0 1
Principal axis n w.r.t. the reference coordinate system
 Homogeneous Transformation
• Translation a
s
1 0 0 d x   nx s x ax px  z n
0 1 0 d y  n y s y ay p y 
a
Fnew    s
0 0 1 d z  nz s z
 az pz 
    n
0 0 0 1 0 0 0 1
 nx sx ax px  d x  y
n s y a y p y  d y 
 y
 nz sz az pz  d z 
 
0 0 0 1 

Fnew  Trans (d x , d y , d z )  Fold