Spatial

Descriptions and
Transformations
Descriptions, Mappings, Operators,
Translations, Rotations, and
Transformations.
Spatial Descriptions and
Transformations
Summary : Learn how to describe objects’
position and orientations in 3D space, and how to
transform these descriptions to different reference
frames in 3D space.

Learning Objective: Learn how to

• Describe objects in 3D space
• Map objects in 3D space.
• Learn about transformation operators.
• Learn about transformation matrices.
• Learn about rotation matrices, Euler angles and
equivalent single axis representations.
Topics to Cover
• Description : Describes the position, orientation, and frames in space
• Mapping: Change of description of a point from one frame to another
frame
• Operators: Translation and rotation of vectors relative to the same
frame
• Transformation Arithmetic
Description
Describes the position, orientation, and
frames in space
a) Position:
Define the position of a point “P” relative to
coordinate frame {A}

The “position vector” is: AP=

Description
Example on position: Describe
and draw the position of point
“P” relative to coordinate frame
{A} if point “P” is positioned at :
2,4, and 3 in x, y, and z of frame
{A}.
Sol.
Description
In-Class Exercise: Describe and
draw the position of point “P”
relative to coordinate frame {B}
if point “P” is positioned at : 3,-
1, and 2 in x, y, and z of frame
{B}.
Sol. BP=
• Learning Objective: knowledge of computing and related discipline
appropriate to the robotics.
• Needed Background: Basic Statistics, Algebra. Students will use
webots to work on homework projects.