Introduction to Robotics

Mechanics and Control

4th Edition

Chapter 02
Spatial Descriptions and Transformations

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Figure 2.1
Vector relative to frame (example).

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Figure 2.2
Locating an object in position and orientation.

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Figure 2.3
Example of several frames.

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Figure 2.4
Translational mapping.

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Figure 2.5
Rotating the description of a vector.

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Figure 2.6
{B} rotated 30 degrees about Ẑ.

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Figure 2.7
General transform of a vector.

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Figure 2.8
Frame {B} rotated and translated.

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Figure 2.9
Translation operator.

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Figure 2.10
The vector AP1 rotated 30 degrees about Ẑ.

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Figure 2.11
The vector AP1 rotated and translated to form AP2.

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Figure 2.12
Compound frames: each is known relative to the previous one.

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Figure 2.13
{B} relative to {A}.

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Figure 2.14
Set of transforms forming a loop.

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Figure 2.15
Example of a transform equation.

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Figure 2.16
Manipulator reaching for a bolt.

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Figure 2.17
X–Y–Z fixed angles. Rotations are performed in the order
RX(g), RY(β), RZ(α).

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Figure 2.18
Z–Y–X Euler angles.

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Figure 2.19
Equivalent angle–axis representation.

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Figure 2.20
Rotation about an axis that does not pass through the origin of {A}.
Initially, {B} was coincident with {A}.

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Figure 2.21
Equal velocity vectors.

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Figure 2.22
Transforming velocities.

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Figure 2.23
Cylindrical coordinates.

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Figure 2.24
Spherical coordinates.

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Figure 2.25
Frames at the corners of a wedge.

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Figure 2.26
Frames at the corners of a wedge.

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