Mechatronics Dept.
, Dynamics & Control Group, 207701-Industrial Robot
Spatial descriptions and
transformations
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-1
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Outline
- Learn to represent position and orientation
- Be able to transform between coordinate
systems.
- Use frames and homogeneous coordinates
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-2
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
- Objectlocation in space specified by location of a selected point
on it and orientation of the object.
-A coordinate system
(frame) is attached rigidly
to the object. Then
proceed to describe the
position and orientation of
this frame with respect to
some reference coordinate
system.
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
COORDINATES ON ROBOT
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
ASSIGN COORDINATE ON THE ROBOT SYSTEMS
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-6
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Description of a position
Once a coordinate system is established, any point in the
universe can be located with a 3 1 position vector.
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Descriptions of positions
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Description of a orientation
2D case
What is the relation between OPA and OPB?
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-9
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Description of a orientation
3D case
What is the matrix descript the
relation between two frame?
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-10
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Example of description of a orientation
Inertial Measurement Unit in Aircraft
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Description of a orientation
- The complete location of the hand is
still not specified until its orientation
is also given.
- A coordinate system (B) has been
attached to the body in a known way.
A description of {B} relative to (A)
now suffices to give the orientation of
the body.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-12
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Note: Rotation matrix are simply the projections of a frame onto
another frame.
Projections of {B}
onto {A}:
Projections of {A}
onto {B}:
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Example
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Note: In a rotation matrix, rows / columns are
orthogonal unit vectors.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-15
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Example: Determine missing elements in the following rotation matrix.
From properties of rotation matrix:
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-16
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-17
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Finite and infinitesimal translations
Finite Δx,Δy,Δz or infinitesimal dx, dy, dz translations (linear displacements) always commute
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Finite rotations do not commute
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-19
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Description of a frame
A frame is a coordinate system where, in addition to the orientation,
we give a position vector which locates its origin relative to some other
embedding frame.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-20
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Mappings from frame to frame
- It is concerned how to express the same quantity in terms of various
reference coordinate systems.
- Mappings involving translated frames
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Mappings involving rotated frames
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Rotation matrix
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Mappings involving general frames
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-25
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Generally, it is desired to think of a mapping from one frame to
another as an operator in matrix form.
A P A
R A
PBORG B P
B
1 0 0 0 1 1
(4 1) (4 4) (4 1)
The 4 x 4 matrix above is called a homogeneous transform.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-26
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
The same mathematical forms used to map points between frames can
also be interpreted as operators that translate points, rotate vectors,
or do both.
Translational operators
A translation moves a point in
space a finite distance along a
given vector direction.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-27
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
To write this translation operation as a matrix operator:
The DQ operator may be thought of as
a homogeneous transform of a special
simple form.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-28
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
Rotational operators
Another interpretation of a rotation matrix is as a rotational operator
that operates on a vector AP1 and changes that vector to a new vector,
AP , by means of a rotation, R.
2
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-29
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-30
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-31
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Operators: translation, rotation, & transformation
Transformation operators
A frame has another interpretation as a transformation operator.
In this interpretation, only one coordinate system is involved,
and so the symbol T is used without sub- or superscripts. The
operator T rotates and translates a vector AP1 to compute a new
vector AP2.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-32
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Summary of interpretations
As a general tool to represent frames, a
homogeneous transform has been
introduced. That is a 4 x 4 matrix A
R A
PBORG
containing orientation and position B
information.
0 0 0 1
There are three interpretations of this
homogeneous transform:
• A description of a frame - describes the frame {B} relative to the
frame {A}:
• A transform mapping:
• A transform operator:
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-33
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation arithmetic
Compound transformations
A
R CBR A B
R P A
P
CT
A B B CORG BORG
0 0 0 1
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-34
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation arithmetic
Inverting a transform
A
R A
PBORG
BT
A B
0 0 0 1
We have:
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-35
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation arithmetic
A
RT BART A PBORG
AT
B B
0 0 0 1
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-36
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation arithmetic
Determine:
Solution:
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-37
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation operators
A frame has another interpretation as a transformation
operator. In this interpretation, only one coordinate
system is involved, and so the symbol T is used without
sub- or superscripts. The operator T rotates and
translates a vector AP1 to compute a new vector AP2.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-38
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transform equations
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
More on representation of orientation
For a rotation matrix R
9 elements
6 constraints
R is conveniently specified with three parameters
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-40
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
More on representation of orientation
Example: Consider two rotations, one about X by 300, and one
about Z by 300.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-41
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
More on representation of orientation
Note:
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Roll-Pitch-Yaw (X - Y - Z fixed angles)
Start with the frame {B} coincident with a known reference
frame {A}.
• Rotate {B} first about X̂ Aby an angle (roll)
• Then, rotate {B} about ŶA by an angle (pitch)
• Finally, rotate {B} about Ẑ A an angle (yaw)
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-44
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Roll-Pitch-Yaw (X - Y - Z fixed angles)
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-45
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Z-Y-X Euler angles
Start with the frame {B} coincident with a known reference
frame {A}.
Rotate {B} first about X̂ B by an angle
Then, rotate {B} about ŶB by an angle
Finally, rotate {B} about Ẑ B by an angle α
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Z-Y-X Euler angles
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Can you make the algebraic proof?
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Solution for / /
If
If
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Equivalent angle - axis
Start with the frame
{B} coincident with a
known frame {A}; then
rotate {B} about the
vector A K̂ by an angle
according to the
right-hand rule.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-50
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Equivalent angle - axis
A frame {B} is described as
initially coincident with {A).
Then {B} is rotated about the
vector A Kˆ [0.7070 0.707 0.0]T
(passing through the point AP
= [1.0 2.0 3.0]) by an amount
= 300.
Give the frame
description of {B}.
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-51
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Equivalent angle - axis
Solution: define two new frames {A’} and {B’} so that their
origins are at AP = [1.0 2.0 3.0]T and
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Equivalent angle - axis
We have
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Axis/Angle Representation
Rotation about an arbitrary axis
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Axis/Angle Representation
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Axis/Angle Representation
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Line vector vs. Free vector
The term line vector refers to a vector that is dependent on its
line of action, along with direction and magnitude, for causing its
effects.
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Line vector vs. Free vector
A free vector refers to a vector that may be positioned anywhere
in space without loss or change of meaning, provided that
magnitude and direction are preserved.
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Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
A pure translation of 0.5m in the X direction is represented by
>> transl(0.5, 0.0, 0.0)
A rotation of 90 degrees about the Y axis by
>> r2t(roty(pi/2)) % {or use trot(pi/2)}
A rotation of -90 degrees about the Z axis by
>> r2t(rotz(-pi/2))
These may be concatenated by multiplication
>> t = transl(0.5, 0.0, 0.0) * r2t(roty(pi/2) )* r2t(rotz(-pi/2))
transform multiplication is in general not commutative
>> rotx(pi/2) * rotz(-pi/8)
>> rotz(-pi/8) * rotx(pi/2)
Transform Euler angles to roll/pitch/yaw angles
>> tr2rpy(t)
Homogenous transform for rotation about arbitrary vector
>> R=t2r(t)
>> tr2angvec(t)
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-59
