1. Transformation matrices represent coordinate transformations between different coordinate frames attached to rigid objects. They relate the coordinates of a point in one frame to its coordinates in another frame.
2. Rotation matrices specifically describe the orientation of one coordinate frame relative to another. They rotate vectors from one frame to another.
3. Homogeneous transformations combine rotations and translations into a single matrix operation to transform between frames attached to rigid objects that have undergone rotation and translation.
The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.
The Denavit-Hartenberg (D-H) convention provides a standardized method to define coordinate frames for each link of a robot manipulator. It uses four parameters - link length (ai), joint angle (αi), link offset (di), and joint twist (θi) - to define the transformation from one link's frame to the next. By applying the homogeneous transformation matrices for each link according to their D-H parameters, the forward kinematics can be calculated to determine the end effector position from the joint parameters. The D-H convention reduces the number of parameters needed compared to other methods.
1. The document discusses differential kinematics and how it can be used to examine the pose velocities of robot frames. It also covers Jacobians and how they map between joint and Cartesian space velocities.
2. Specific topics covered include differential transformations, screw velocity matrices, relating velocities in different frames, determining Jacobians for serial and parallel robots, and examining robot singularities.
3. Singularities occur when the mechanism loses mobility in certain directions and joint rates will increase near these configurations. Workarounds include tooling design, changing to joint space control near singularities, and carefully planning paths.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Kinematics is the study of how robotic manipulators move. It describes the relationship between actuator movement and resulting end effector motion. Understanding a robot's kinematics, including its number of joints, degrees of freedom, and how parts are connected, is necessary for controlling its movement. Forward kinematics determines the end effector position from joint angles, while inverse kinematics finds required joint angles for a given end effector position. Homogeneous transformations provide a general mathematical approach for solving kinematics equations using matrix algebra.
This document provides an overview of the textbook "Robotics: Control, Sensing, Vision, and Intelligence". The textbook was written to provide a comprehensive account of the basic principles underlying the design, analysis, and synthesis of robotic systems. It covers topics such as robot arm kinematics and dynamics, trajectory planning and motion control, robot sensing, programming languages, and machine intelligence. The textbook is intended for engineers, scientists, and students involved in robotics and automation.
The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.
The Denavit-Hartenberg (D-H) convention provides a standardized method to define coordinate frames for each link of a robot manipulator. It uses four parameters - link length (ai), joint angle (αi), link offset (di), and joint twist (θi) - to define the transformation from one link's frame to the next. By applying the homogeneous transformation matrices for each link according to their D-H parameters, the forward kinematics can be calculated to determine the end effector position from the joint parameters. The D-H convention reduces the number of parameters needed compared to other methods.
1. The document discusses differential kinematics and how it can be used to examine the pose velocities of robot frames. It also covers Jacobians and how they map between joint and Cartesian space velocities.
2. Specific topics covered include differential transformations, screw velocity matrices, relating velocities in different frames, determining Jacobians for serial and parallel robots, and examining robot singularities.
3. Singularities occur when the mechanism loses mobility in certain directions and joint rates will increase near these configurations. Workarounds include tooling design, changing to joint space control near singularities, and carefully planning paths.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Kinematics is the study of how robotic manipulators move. It describes the relationship between actuator movement and resulting end effector motion. Understanding a robot's kinematics, including its number of joints, degrees of freedom, and how parts are connected, is necessary for controlling its movement. Forward kinematics determines the end effector position from joint angles, while inverse kinematics finds required joint angles for a given end effector position. Homogeneous transformations provide a general mathematical approach for solving kinematics equations using matrix algebra.
This document provides an overview of the textbook "Robotics: Control, Sensing, Vision, and Intelligence". The textbook was written to provide a comprehensive account of the basic principles underlying the design, analysis, and synthesis of robotic systems. It covers topics such as robot arm kinematics and dynamics, trajectory planning and motion control, robot sensing, programming languages, and machine intelligence. The textbook is intended for engineers, scientists, and students involved in robotics and automation.
This document discusses robot kinematics and robot programming. It covers forward and inverse kinematics of manipulators with two, three, and four degrees of freedom. It also discusses Jacobians, velocity, forces, manipulator dynamics, trajectory generation, and manipulator mechanism design. The document then covers robot programming languages like VAL and describes motion commands, sensor commands, and end effector commands used in simple programs. It defines kinematics and robot kinematics, and discusses the two kinematic tasks of direct and inverse kinematics. Finally, it explains the use of coordinate transformations between different frames when applying representations to 3D points.
1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.
1. Robot kinematics is the analytical study of robot motion without considering forces or moments. It involves representing a robot as a series of rigid links connected by joints and determining the relationship between joint positions and the end effector position and orientation.
2. There are two main kinematic tasks: direct kinematics, which determines the end effector pose given joint positions, and inverse kinematics, which determines required joint positions to achieve a desired end effector pose.
3. Direct kinematics involves matrix multiplications to transform between reference frames. Inverse kinematics is more difficult and involves solving nonlinear equations, which may have multiple or no solutions. Simplifications like decoupling subproblems can help.
Kinematics is the study of motion without considering forces. Robot kinematics specifically refers to the analytical study of robot motion and how robotic systems move. There are two main types of kinematics: forward kinematics and inverse kinematics. Forward kinematics uses the robotic equations to determine the position of the end effector given the joint parameters. Inverse kinematics determines the necessary joint parameters to achieve a desired end effector position and orientation. Inverse kinematics is important for robot trajectory planning but is generally more difficult than forward kinematics.
This document provides an overview of robotics and automation as the topic of an elective course. It includes definitions of key robotics concepts like the definition of a robot, basic robot parts, degrees of freedom, generations of robots, and Asimov's laws of robotics. It also covers different robot types based on application and configuration. The document is divided into several units with topics that will be covered, related textbooks and references. Overall, it introduces fundamental robotics concepts and outlines the scope and content of the course.
An introduction to robotics classification, kinematics and hardwareNikhil Shrivas
Introduction to robots, classification of robots, Kinematics of robot manipulator, Introduction to a mobile robot, kinematics of mobile robot, sensors used in robots, microcontrollers for robots
This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
1. The document discusses forward kinematics of robot manipulators. It defines key concepts like links, joints, Denavit-Hartenberg parameters, and homogeneous transformation matrices.
2. The forward kinematics problem is solved by assigning coordinate frames to each link and determining the transformation between frames using link variables and homogeneous transformations.
3. The position and orientation of the end effector is determined by multiplying the homogeneous transformation matrices representing each link transformation.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.
The document discusses considerations for robot cell layout design involving multiple robots and machine interfaces. It describes three common robot cell layouts: robot-centered, in-line, and mobile. For in-line cells, it discusses three types of part transfer systems and provides an example to calculate machine interference. The document also outlines several important considerations for work cell design, including modifications to equipment, part positioning, identification, protecting robots, required utilities, cell control, and safety measures.
This document summarizes robot motion analysis and kinematics. It discusses the historical perspective of robots, definitions of robots, basic robot components, robot configurations, types of joints and kinematics. It also covers topics such as transformations, rotation matrices, homogeneous transformations, and inverse kinematics of one and two link manipulators. The document provides examples and references on these topics.
NONLINEAR CONTROL SYSTEM(Phase plane & Phase Trajectory Method)Niraj Solanki
This document discusses nonlinear control systems using phase plane and phase trajectory methods. It defines nonlinear systems and common physical nonlinearities like saturation, dead zone, relay, and backlash. Phase plane analysis is introduced as a graphical method to study nonlinear systems using a plane with state variables x and dx/dt. Key concepts are defined like phase plane, phase trajectory, and phase portrait. Methods for sketching phase trajectories include analytical solutions and graphical methods using isoclines. Examples are given to illustrate phase portraits for different linear systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
This document discusses the classification of industrial robots based on their arm geometry and degrees of freedom. It describes five basic robot manipulator configurations: rectangular, cylindrical, spherical, jointed arm (vertical), and SCARA (horizontal). Each configuration provides advantages and disadvantages in terms of reach, work envelope, and complexity. The document also covers the LERT classification system for robot joints and degrees of freedom. Finally, it discusses the main power sources used in robots, primarily electric power.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
This document provides an overview of robotics. It defines a robot as a machine that can perform complex actions automatically without human interference, while robotics is the branch of technology dealing with the design, construction, and application of robots. The document classifies robots based on mobility and discusses common types of industrial robots. It also describes the parts of a robot, different robot configurations, specifications, common tasks performed by robots, and popular robotics shopping websites.
3-D Transformation in Computer GraphicsSanthiNivas
This PDF gives the detailed information about 3-D Transformations like, Translation, Rotation and Scaling. Classification of Visible Surface Detection Methods, Scan line method, Z -Buffer Method, A- Buffer Method
In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components that can include:
Gears and gear trains
Belt and chain drives
Cam and followers
Linkage
Friction devices, such as brakes and clutches
Structural components such as a frame, fasteners, bearings, springs, lubricants
Various machine elements, such as splines, pins, and keys.
The German scientist Reuleaux provides the definition "a machine is a combination of resistant bodies so arranged that by their means the mechanical forces of nature can be compelled to do work accompanied by certain determinate motion." In this context, his use of machine is generally interpreted to mean mechanism.
The combination of force and movement defines power, and a mechanism manages power to achieve a desired set of forces and movement.
A mechanism is usually a piece of a larger process or mechanical system. Sometimes an entire machine may be referred to as a mechanism. Examples are the steering mechanism in a car, or the winding mechanism of a wristwatch. Multiple mechanisms are machines.
This document discusses robot kinematics and robot programming. It covers forward and inverse kinematics of manipulators with two, three, and four degrees of freedom. It also discusses Jacobians, velocity, forces, manipulator dynamics, trajectory generation, and manipulator mechanism design. The document then covers robot programming languages like VAL and describes motion commands, sensor commands, and end effector commands used in simple programs. It defines kinematics and robot kinematics, and discusses the two kinematic tasks of direct and inverse kinematics. Finally, it explains the use of coordinate transformations between different frames when applying representations to 3D points.
1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.
1. Robot kinematics is the analytical study of robot motion without considering forces or moments. It involves representing a robot as a series of rigid links connected by joints and determining the relationship between joint positions and the end effector position and orientation.
2. There are two main kinematic tasks: direct kinematics, which determines the end effector pose given joint positions, and inverse kinematics, which determines required joint positions to achieve a desired end effector pose.
3. Direct kinematics involves matrix multiplications to transform between reference frames. Inverse kinematics is more difficult and involves solving nonlinear equations, which may have multiple or no solutions. Simplifications like decoupling subproblems can help.
Kinematics is the study of motion without considering forces. Robot kinematics specifically refers to the analytical study of robot motion and how robotic systems move. There are two main types of kinematics: forward kinematics and inverse kinematics. Forward kinematics uses the robotic equations to determine the position of the end effector given the joint parameters. Inverse kinematics determines the necessary joint parameters to achieve a desired end effector position and orientation. Inverse kinematics is important for robot trajectory planning but is generally more difficult than forward kinematics.
This document provides an overview of robotics and automation as the topic of an elective course. It includes definitions of key robotics concepts like the definition of a robot, basic robot parts, degrees of freedom, generations of robots, and Asimov's laws of robotics. It also covers different robot types based on application and configuration. The document is divided into several units with topics that will be covered, related textbooks and references. Overall, it introduces fundamental robotics concepts and outlines the scope and content of the course.
An introduction to robotics classification, kinematics and hardwareNikhil Shrivas
Introduction to robots, classification of robots, Kinematics of robot manipulator, Introduction to a mobile robot, kinematics of mobile robot, sensors used in robots, microcontrollers for robots
This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
1. The document discusses forward kinematics of robot manipulators. It defines key concepts like links, joints, Denavit-Hartenberg parameters, and homogeneous transformation matrices.
2. The forward kinematics problem is solved by assigning coordinate frames to each link and determining the transformation between frames using link variables and homogeneous transformations.
3. The position and orientation of the end effector is determined by multiplying the homogeneous transformation matrices representing each link transformation.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.
The document discusses considerations for robot cell layout design involving multiple robots and machine interfaces. It describes three common robot cell layouts: robot-centered, in-line, and mobile. For in-line cells, it discusses three types of part transfer systems and provides an example to calculate machine interference. The document also outlines several important considerations for work cell design, including modifications to equipment, part positioning, identification, protecting robots, required utilities, cell control, and safety measures.
This document summarizes robot motion analysis and kinematics. It discusses the historical perspective of robots, definitions of robots, basic robot components, robot configurations, types of joints and kinematics. It also covers topics such as transformations, rotation matrices, homogeneous transformations, and inverse kinematics of one and two link manipulators. The document provides examples and references on these topics.
NONLINEAR CONTROL SYSTEM(Phase plane & Phase Trajectory Method)Niraj Solanki
This document discusses nonlinear control systems using phase plane and phase trajectory methods. It defines nonlinear systems and common physical nonlinearities like saturation, dead zone, relay, and backlash. Phase plane analysis is introduced as a graphical method to study nonlinear systems using a plane with state variables x and dx/dt. Key concepts are defined like phase plane, phase trajectory, and phase portrait. Methods for sketching phase trajectories include analytical solutions and graphical methods using isoclines. Examples are given to illustrate phase portraits for different linear systems.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
This document discusses the classification of industrial robots based on their arm geometry and degrees of freedom. It describes five basic robot manipulator configurations: rectangular, cylindrical, spherical, jointed arm (vertical), and SCARA (horizontal). Each configuration provides advantages and disadvantages in terms of reach, work envelope, and complexity. The document also covers the LERT classification system for robot joints and degrees of freedom. Finally, it discusses the main power sources used in robots, primarily electric power.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
This document provides an overview of robotics. It defines a robot as a machine that can perform complex actions automatically without human interference, while robotics is the branch of technology dealing with the design, construction, and application of robots. The document classifies robots based on mobility and discusses common types of industrial robots. It also describes the parts of a robot, different robot configurations, specifications, common tasks performed by robots, and popular robotics shopping websites.
3-D Transformation in Computer GraphicsSanthiNivas
This PDF gives the detailed information about 3-D Transformations like, Translation, Rotation and Scaling. Classification of Visible Surface Detection Methods, Scan line method, Z -Buffer Method, A- Buffer Method
In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components that can include:
Gears and gear trains
Belt and chain drives
Cam and followers
Linkage
Friction devices, such as brakes and clutches
Structural components such as a frame, fasteners, bearings, springs, lubricants
Various machine elements, such as splines, pins, and keys.
The German scientist Reuleaux provides the definition "a machine is a combination of resistant bodies so arranged that by their means the mechanical forces of nature can be compelled to do work accompanied by certain determinate motion." In this context, his use of machine is generally interpreted to mean mechanism.
The combination of force and movement defines power, and a mechanism manages power to achieve a desired set of forces and movement.
A mechanism is usually a piece of a larger process or mechanical system. Sometimes an entire machine may be referred to as a mechanism. Examples are the steering mechanism in a car, or the winding mechanism of a wristwatch. Multiple mechanisms are machines.
This document presents a geometrically exact finite-strain beam theory formulation where the shape functions for three-dimensional rotations are obtained analytically from constant rotational strains along the element. The relationship between total rotations and rotational strains is given by the matrix exponential for constant strains. A finite element is presented where numerical integration is replaced by analytical integrals, avoiding differentiation errors. The formulation is based on constant strain fields but reveals interesting connections between quantities that can guide the development of new finite elements.
This document provides an overview of isometries and their composition. It outlines objectives for students to classify isometries and find compositions, references relevant Iowa Common Core standards, defines isometries as transformations that preserve distance, describes the four kinds of isometries including reflections, rotations, translations, and glide reflections, and provides examples of reflections over parallel and intersecting lines as well as glide reflections using Sketchpad. Homework assignments are included.
The document discusses the mathematical structure of kinematic models for manipulators. It defines that a manipulator consists of rigid links connected by joints, with an arm for mobility, wrist for orientation, and end-effector for tasks. Degrees of freedom refer to independent movements in 3D space, with 6 total - 3 for translation and 3 for rotation. Kinematic modeling involves direct and inverse kinematics - direct finds end-effector position from joint parameters, inverse finds joint values for a given end-effector position. Denavit-Hartenberg notation assigns reference frames, and transformation matrices relate positions between adjacent links based on joint-link parameters to define the kinematic model.
This document provides instruction on reflections in geometry. It begins with identifying angle relationships and defining a reflection as a transformation that flips a figure over a line of reflection. Examples are given of reflecting figures over the x-axis and y-axis, and how the coordinates change. Students practice reflecting figures, identifying reflection lines, and determining if reflections result in congruent or similar figures. The document concludes with an activity where students reflect their own polygons and trade with classmates.
This document provides an overview of tensors, including:
- Tensors generalize scalars, vectors, and allow representation of physical laws in a coordinate-independent way.
- Tensor components transform according to changes of basis vectors under coordinate transformations.
- The metric tensor relates vector components and defines raising/lowering of indices.
- The covariant derivative accounts for how tensor components change across coordinate systems due to curvature.
- Tensor calculus, using covariant derivatives, allows formulation of physical laws in a generally covariant way.
Vector calculus in Robotics EngineeringNaveensing87
Vector calculus concepts such as angular velocity vectors, linear and rotational velocities, and Jacobians are important applications in robotics engineering. Vector calculus is used to represent points and vectors in robotic mechanisms with three coordinates and their magnitudes and directions. It allows determining the velocity of parts in a robot by propagating velocities between links using rotational and angular velocities. Jacobians relate Cartesian velocities to joint velocities in robots and are used for forward and inverse kinematics analysis to calculate robot positions and orientations.
A two DOF spherical parallel platform posture analysis based on kinematic pri...IJRES Journal
Introducing the principle of kinematic analysis, the mathematical description and analysis
method of the constraints, pose and freedom were briefly outlined. A new 2-PSP & 1-S platform configuration
was presented. To derive attitude mathematical model of the platform, freedom and spinor system of the two
DOF spherical parallel platform were analyzed using kinematics principles. The results show, introducing the
concept of position and pose into the kinematic design, kinematic design method can be more widely used to
deal with the problem of the movement of the mechanism, so as to expand the application range of kinematic
design.
Surface classification using conformal structuresEvans Marshall
This paper introduces a novel method for classifying 3D surfaces using their conformal structures. Conformal structures are intrinsic to a surface's geometry and invariant to transformations like triangulation. The paper represents a surface's conformal structure using matrices called period matrices that describe the shapes of parallelograms surfaces are conformally mapped to. An algorithm is presented to compute these conformal structures and classify surfaces based on whether they have equivalent conformal structures. This approach is more discriminating for classification than topological approaches while being more robust than methods based on exact geometry.
This document discusses beam deflection and the mechanics of solids. It defines key terms like deflection, angle of rotation, curvature, and slope as they relate to the bending of beams. Equations are presented that relate these variables to each other and describe the deflection curve of beams undergoing small rotations. The assumptions and sign conventions used in the equations are also outlined.
This chapter discusses elastic and viscoplastic self-consistent theories for predicting the effective mechanical behavior of polycrystalline materials from their microstructure. It reviews how crystal elasticity and plasticity theories can be used in mean-field homogenization methods like the self-consistent approximation. Examples are given of applying the elastic self-consistent method to predict effective properties of composites and textured polycrystals. The viscoplastic self-consistent method is also described for modeling the rate-dependent behavior of polycrystals based on linearizing the nonlinear viscoplastic behavior at the grain scale.
Crystallography and X-ray diffraction (XRD) Likhith KLIKHITHK1
Atoms in materials are arranged into crystal structures and microstructures.
Periodic arrangement of atoms depends strongly on external factors such as temperature, pressure, and cooling rate during solidification. Solid elements and their compounds are classified into amorphous, polycrystalline, and single crystalline materials. The amorphous solid materials are isotropic in nature because their atomic arrangements are not regular and possess the same properties in all directions. In contrast, the crystalline materials are anisotropic because their atoms are arranged in regular and repeated pattern, and their properties vary with direction. The polycrystalline materials are combinations of several crystals of varying shapes and sizes. The properties of polycrystalline materials are strongly dependent on distribution of crystals sizes, shapes, and orientations within the individual crystal. Diffraction pattern or intensities of X-ray diffraction techniques are used for characterizing and probing arrangement of atoms in each unit cell, position of atoms, and atomic spacing angles because of comparative wavelength of X-ray to atomic size.The X-ray diffraction, which is a non-destructive technique, has wide range of material analysis including minerals, metals, polymers, ceramics, plastics, semiconductors, and solar cells. The technique also has wide industry application including aerospace, power generation, microelectronics, and several others. The X-ray crystallography remained a complex field of study despite wide industrial applications.
1) Kinematic analysis involves finding the positions, velocities, and accelerations of moving parts in order to calculate dynamic forces and component stresses.
2) Coordinate systems are used to describe link positions and displacements independently of rotations. Displacement of a point is the change in its position and is not necessarily the same as the path length between initial and final positions.
3) Vector loop representation models linkages using position vectors that form a closed loop, allowing displacements to be analyzed algebraically.
1. The document discusses vectors and their applications in describing motion in two dimensions. It defines key concepts like position vector, displacement vector, and their representations.
2. Methods for adding, subtracting, and resolving vectors into rectangular components are explained. Properties of vector addition and multiplication are also outlined.
3. Motion in two dimensions is described using vectors, defining concepts like displacement, average velocity, and their representations through position and velocity vectors.
IRJET- On the Generalization of Lami’s TheoremIRJET Journal
1) The document generalizes Lami's Theorem, which relates the magnitudes of three coplanar, concurrent and non-collinear forces in static equilibrium, to systems with any odd number of forces.
2) It shows that for cyclic polygons with an odd number of sides, the sine rule relating side lengths and opposite interior angles takes the same form as Lami's Theorem.
3) The paper also describes how to transform n-gons into vector diagrams and vice versa, and derives a condition for when a vector diagram can represent a cyclic polygon.
This document presents a novel approach for measuring shape similarity and using it for object recognition. The key steps are:
1) Solving the correspondence problem between two shapes by attaching a descriptor called "shape context" to sample points on each shape. Shape context captures the distribution of remaining points relative to the reference point.
2) Using the point correspondences to estimate an aligning transformation between the shapes. This provides a measure of shape similarity as the matching error between corresponding points plus the magnitude of the transformation.
3) Treating recognition as a nearest neighbor problem to find the most similar stored prototype shape. The approach is demonstrated on various datasets including handwritten digits, silhouettes, and 3D objects
1) Planar motion can be represented as a resultant vector from combined component vectors, and the magnitude of this resultant vector must be corrected using the orientation angle between the vector and a reference axis.
2) This correction can be done using properties of a right triangle derived from the unit circle, where the trigonometric functions sine and cosine relate the component vectors to the resultant vector based on the orientation angle.
3) The trigonometric functions serve as correction factors between 0 and 1 (or -1 and 1) to adjust the magnitudes of the component vectors based on the orientation angle and resultant vector.
Boris Stoyanov - The Exclusive Constructions of Chern-Simons BranesBoris Stoyanov
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Implementing ELDs or Electronic Logging Devices is slowly but surely becoming the norm in fleet management. Why? Well, integrating ELDs and associated connected vehicle solutions like fleet tracking devices lets businesses and their in-house fleet managers reap several benefits. Check out the post below to learn more.
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Welcome to ASP Cranes, your trusted partner for crane solutions in Raipur, Chhattisgarh! With years of experience and a commitment to excellence, we offer a comprehensive range of crane services tailored to meet your lifting and material handling needs.
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Surveillance and Monitoring: Recommendations for using security cameras and motion-sensor lights to deter thieves.
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Theft Rates by Borough: Analysis of data to determine which borough in NYC experiences the highest rate of catalytic converter thefts.
Recent Trends: Current trends and patterns in catalytic converter thefts to help you stay aware of emerging hotspots and tactics used by thieves.
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Practical Tips: Gain actionable insights and tips to effectively prevent catalytic converter theft.
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3. 10/17/2017
Motivation
A large part of robot kinematics is concerned with the
establishment of various coordinate systems to represent the
positions and orientations of rigid objects, and with
transformations among these coordinate systems.
Indeed, the geometry of three-dimensional space and of rigid
motions plays a central role in all aspects of robotic manipulation.
A rigid motion is the action of taking an object and moving it to a
different location without altering its shape or size
4. 10/17/2017
Transformation
The operations of ROTATION and TRANSLATION.
Introduce the notion of HOMOGENEOUS
TRANSFORMATIONS (combining the operations
of rotation and translation into a single matrix
multiplication).
7. 10/17/2017
Representing Positions
What is the difference
between the geometric
entity called 𝒑 and any
particular coordinate
vector 𝒗 that is assigned
to represent 𝒑?
𝒑 is independent of the choice of coordinate systems.
𝒗 depends on the choice of coordinate frames.
8. 10/17/2017
Representing Positions
A point corresponds to a specific
location in space.
A vector specifies a direction and
a magnitude (e.g. displacements
or forces).
The point 𝒑 is not equivalent to
the vector 𝒗𝟏, the displacement
from the origin 𝒐𝟎 to the point 𝒑
is given by the vector 𝒗𝟏.
We will use the term vector to refer to what are sometimes called free vectors, i.e.,
vectors that are not constrained to be located at a particular point in space.
9. 10/17/2017
Representing Positions
When assigning coordinates to
vectors, we use the same notational
convention that we used when
assigning coordinates to points.
Thus, 𝒗𝟏 and 𝒗𝟐 are geometric
entities that are invariant with
respect to the choice of coordinate
systems, but the representation by
coordinates of these vectors
depends directly on the choice of
reference coordinate frame.
10. 10/17/2017
Coordinate Convention
In order to perform algebraic manipulations using
coordinates, it is essential that all coordinate vectors
be defined with respect to the same coordinate
frame.
In the case of free vectors, it is enough that they be
defined with respect to parallel coordinate frames.
12. 10/17/2017
Coordinate Convention
An expression of the form:
is not defined since the frames
𝒐𝟎 𝒙𝟎 𝒚𝟎 and 𝒐𝟏 𝒙𝟏 𝒚𝟏 are not
parallel.
Thus, we see a clear need, not only for a representation system that allows points to
be expressed with respect to various coordinate systems, but also for a mechanism
that allows us to transform the coordinates of points that are expressed in one
coordinate system into the appropriate coordinates with respect to some other
coordinate frame.
13. 10/17/2017
Representing Rotations
In order to represent the relative
position and orientation of one rigid
body with respect to another, we will
rigidly attach coordinate frames to
each body, and then specify the
geometric relationships between
these coordinate frames.
14. 10/17/2017
Representing Rotations
In order to represent the relative
position and orientation of one rigid
body with respect to another, we will
rigidly attach coordinate frames to
each body, and then specify the
geometric relationships between
these coordinate frames.
15. 10/17/2017
Representing Rotations
In order to represent the relative
position and orientation of one rigid
body with respect to another, we will
rigidly attach coordinate frames to
each body, and then specify the
geometric relationships between
these coordinate frames.
How to describe the orientation of one coordinate frame relative to another frame?
17. 10/17/2017
Rotation In The Plane
Fram 𝒐𝟏 𝒙𝟏 𝒚𝟏 is obtained by rotating
frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 by an angle 𝜽.
The coordinate vectors for the axes of
frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 with respect to coordinate
frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 are described by a rotation
matrix:
where𝒙𝟏
𝟎
and 𝒚𝟏
𝟎
are the coordinates in frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 of unit
vectors 𝒙 𝟏 and 𝒚 𝟏 , respectively.
18. 10/17/2017
Rotation In The Plane
𝑹𝟏
𝟎
is a matrix whose column vectors are the coordinates of the (unit vectors along the)
axes of frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 expressed relative to frame 𝒐𝟎 𝒙𝟎 𝒚𝟎.
19. 10/17/2017
Rotation In The Plane
𝑹𝟏
𝟎
describes the orientation of frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 with respect to the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎.
The dot product of two unit vectors gives the
projection of one onto the other
𝑹𝟎
𝟏
=?
20. 10/17/2017
Rotation In The Plane
The dot product of two unit vectors gives the
projection of one onto the other
The orientation of frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 with
respect to the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏.
Since the inner product is commutative
21. 10/17/2017
Rotations In Three Dimensions
Each axis of the frame 𝒐𝟏𝒙𝟏𝒚𝟏𝒛𝟏 is projected onto coordinate frame 𝒐𝟎𝒙𝟎𝒚𝟎𝒛𝟎.
The resulting rotation matrix is given by:
28. 10/17/2017
Example
The coordinates of 𝒙𝟏are
The coordinates of 𝒚𝟏are
The coordinates of 𝒛𝟏 are
Find the description of frame 𝒐𝟏𝒙𝟏𝒚𝟏𝒛𝟏 with respect to the frame 𝒐𝟎𝒙𝟎𝒚𝟎𝒛𝟎.
29. 10/17/2017
Example
Find the description of frame 𝒐𝟏𝒙𝟏𝒚𝟏𝒛𝟏 with respect to the frame 𝒐𝟎𝒙𝟎𝒚𝟎𝒛𝟎.
The coordinates of 𝒙𝟏are
The coordinates of 𝒚𝟏are
The coordinates of 𝒛𝟏 are
30. 10/17/2017
Rotational Transformations
𝑺 is a rigid object to which a coordinate 𝒇𝒓𝒂𝒎𝒆 𝟏
is attached.
Given 𝒑𝟏
of the point 𝒑, determine the coordinates
of 𝒑 relative to a fixed reference 𝒇𝒓𝒂𝒎𝒆 𝟎.
The projection of the point 𝒑 onto the
coordinate axes of the 𝒇𝒓𝒂𝒎𝒆 𝟎:
32. 10/17/2017
Rotational Transformations
Thus, the rotation matrix 𝑹𝟏
𝟎
can be used not
only to represent the orientation of coordinate
frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 with respect to frame
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 , but also to transform the
coordinates of a point from one frame to
another.
If a given point is expressed relative to
𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 by coordinates 𝒑𝟏 , then 𝑹𝟏
𝟎
𝒑𝟏
represents the same point expressed relative
to the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
33. 10/17/2017
Rotational Transformations
It is possible to derive the coordinates for 𝒑𝒃 given only the coordinates for
𝒑𝒂 and the rotation matrix that corresponds to the rotation about 𝒛𝟎.
Suppose that a coordinate frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 is rigidly attached to the block.
After the rotation by 𝝅, the block’s coordinate frame, which is rigidly attached
to the block, is also rotated by 𝝅.
Rotation matrices to represent rigid
motions
36. 10/17/2017
Summary: Rotation Matrix
1.It represents a coordinate transformation
relating the coordinates of a point p in two
different frames.
2. It gives the orientation of a transformed
coordinate frame with respect to a fixed
coordinate frame.
3. It is an operator taking a vector and rotating it
to a new vector in the same coordinate system.
37. 10/17/2017
Similarity Transformations
The matrix representation of a general linear transformation is transformed from one
frame to another using a so-called similarity transformation.
For example, if 𝑨 is the matrix representation of a given linear transformation in
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 and 𝑩 is the representation of the same linear transformation in
𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 then 𝑨 and 𝑩 are related as:
where 𝑹𝟏
𝟎
is the coordinate transformation between frames 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 and
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 . In particular, if 𝑨 itself is a rotation, then so is 𝑩, and thus the use of
similarity transformations allows us to express the same rotation easily with respect to
different frames.
38. 10/17/2017
Example
Suppose frames 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 and 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 are related
by the rotation
If 𝑨 = 𝑹𝒛 relative to the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎, then, relative to frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 we have
𝑩 is a rotation about the 𝒛𝟎 − 𝒂𝒙𝒊𝒔 but expressed relative to the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 .
39. 10/17/2017
Rotation With Respect To The Current
Frame
The matrix 𝑹𝟏
𝟎
represents a rotational transformation between the frames 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎
and 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏.
Suppose we now add a third coordinate frame 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 related to the frames
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 and 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 by rotational transformations.
A given point 𝒑 can then be represented by coordinates specified with respect to any of
these three frames: 𝒑𝟎
, 𝒑𝟏
and 𝒑𝟐
.
The relationship among these representations of 𝒑 is:
where each𝑹𝒋
𝒊
is a rotation matrix
40. 10/17/2017
In order to transform the coordinates of a point 𝒑 from its
representation 𝒑𝟐 in the frame 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 to its representation
𝒑𝟎 in the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 , we may first transform to its
coordinates 𝒑𝟏
in the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 using 𝑹𝟐
𝟏
and then
transform 𝒑𝟏 to 𝒑𝟎 using 𝑹𝟏
𝟎
.
Composition Law for Rotational
Transformations
41. 10/17/2017
Composition Law for Rotational
Transformations
Coincident: lie exactly on top of each other
Suppose initially that all three of the coordinate frames are coincide.
We first rotate the frame 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 relative to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 according to the
transformation 𝑹𝟏
𝟎
.
Then, with the frames 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 and 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 coincident, we rotate 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐
relative to 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 according to the transformation 𝑹𝟐
𝟏
.
In each case we call the frame relative to which the rotation occurs the current frame.
42. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔.
43. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔.
44. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔.
45. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔.
46. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔
47. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔
48. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔
Rotational transformations do not commute
49. 10/17/2017
Rotation With Respect To The Fixed
Frame
Performing a sequence of rotations, each about a given fixed coordinate frame, rather
than about successive current frames.
For example we may wish to perform a rotation about 𝒙𝟎 followed by a rotation about
𝒚𝟎 (and not 𝒚𝟏!). We will refer to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 as the fixed frame. In this case the
composition law given before is not valid.
The composition law that was obtained by multiplying the successive rotation matrices
in the reverse order from that given by is not valid.
50. 10/17/2017
Rotation with Respect to the Fixed Frame
Suppose we have two frames 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 and
𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 related by the rotational transformation 𝑹𝟏
𝟎
.
If 𝑹 represents a rotation relative to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎, the
representation for 𝑹 in the current frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is given
by:
Similarity Transformations
With applying the composition law for rotations about the
current axis:
composition law for
rotations about the
current axis
Reminder:
51. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about 𝒚𝟎 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle𝜭about the fixed 𝒛𝟎−𝒂𝒙𝒊𝒔 Similarity Transformations
Reminder:
composition law for
rotations about the
current axis
composition law for
rotations about the fixed
axis
The second rotation about the fixed axis is given by
which is the basic rotation about the z-axis expressed relative
to the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 using a similarity transformation.
52. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about 𝒚𝟎 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle𝜭about the fixed 𝒛𝟎−𝒂𝒙𝒊𝒔 Similarity Transformations
Reminder:
composition law for
rotations about the
current axis
composition law for
rotations about the fixed
axis
Therefore, the composition rule for rotational transformations
53. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about 𝒚𝟎 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle𝜭about the fixed 𝒛𝟎−𝒂𝒙𝒊𝒔
54. 10/17/2017
Example
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about 𝒚𝟎 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle𝜭about the fixed 𝒛𝟎−𝒂𝒙𝒊𝒔
Suppose a rotation matrix R represents
• a rotation of angle 𝝓 about the current 𝒚 − 𝒂𝒙𝒊𝒔 followed by
• a rotation of angle 𝜭 about the current 𝒛 − 𝒂𝒙𝒊𝒔.
55. 10/17/2017
Summary
To note that we obtain the same basic rotation matrices, but in the reverse order.
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
56. 10/17/2017
Rules for Composition of Rotational
Transformations
We can summarize the rule of composition of rotational transformations by:
Given a fixed frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 a current frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏, together with rotation
matrix 𝑹𝟏
𝟎
relating them, if a third frame 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 is obtained by a rotation 𝑹
performed relative to the current frame then post-multiply 𝑹𝟏
𝟎
by 𝑹 = 𝑹𝟐
𝟏
to obtain
In each case 𝑹𝟐
𝟎
represents the transformation between the frames 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 and
𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐.
If the second rotation is to be performed relative to the fixed frame then it is both
confusing and inappropriate to use the notation 𝑹𝟐
𝟏
to represent this rotation. Therefore,
if we represent the rotation by 𝑹, we pre-multiply 𝑹𝟏
𝟎
by 𝑹 to obtain
57. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
58. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
59. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
60. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
61. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
62. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of ϴ about the current x-axis
2. A rotation of φ about the current z-axis
3. A rotation of α about the fixed z-axis
4. A rotation of β about the current y-axis
5. A rotation of δ about the fixed x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
63. 10/17/2017
Example
Find R for the following sequence of basic rotations:
1. A rotation of δ about the fixed x-axis
2. A rotation of β about the current y-axis
3. A rotation of α about the fixed z-axis
4. A rotation of φ about the current z-axis
5. A rotation of ϴ about the current x-axis
Rotation with Respect to
the Fixed Frame
Rotation with Respect to
the Current Frame
Reminder:
64. 10/17/2017
Rotations in Three Dimensions
Each axis of the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is projected onto the coordinate frame
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
The resulting rotation matrix is given by
Reminder:
The nine elements 𝒓𝒊𝒋 in a general rotational transformation R are not independent
quantities.
𝑹𝝐 𝑺𝑶 𝟑
Where 𝑺𝑶(n) denotes the Special Orthogonal group of order n.
65. 10/17/2017
Rotations In Three Dimensions
For any 𝑅𝜖 𝑆𝑂 𝑛 The following properties hold
• 𝑅𝑇
= 𝑅−1
𝜖 𝑆𝑂 𝑛
• The columns and the rows of 𝑅 are mutually orthogonal
• Each column and each row of 𝑅 is a unit vector
• det 𝑅 = 1 (the determinant)
Where 𝑆𝑂(n) denotes the Special Orthogonal group of order n.
Example for 𝑹𝑻
= 𝑹−𝟏
𝝐 𝑺𝑶 𝟐 :
66. 10/17/2017
Parameterizations Of Rotations
As each column of 𝑅 is a unit vector, then we can
write:
As the columns of 𝑅 are mutually orthogonal, then
we can write:
Together, these constraints define six independent equations with nine unknowns, which
implies that there are three free variables.
The nine elements 𝒓𝒊𝒋 in a general rotational transformation R are not independent
quantities.
𝑅𝜖 𝑆𝑂 3
Where 𝑆𝑂(n) denotes the Special Orthogonal group of order n.
67. 10/17/2017
We present three ways in which an arbitrary rotation can be represented using only three
independent quantities:
• Euler Angles representation
• Roll-Pitch-Yaw representation
• Axis/Angle representation
Parameterizations of Rotations
68. 10/17/2017
Euler Angles Representation
We can specify the orientation of the frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 relative to the frame𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by
three angles (𝝓, 𝜽, 𝝍), known as Euler Angles, and obtained by three successive rotations as
follows:
1. rotation about the z-axis by the angle 𝝓
2. rotation about the current y−axis by the angle 𝜽
3. rotation about the current z−axis by the angle 𝝍
74. 10/17/2017
Euler Angles Representation
Given a matrix 𝑅𝜖 𝑆𝑂 3
Determine a set of Euler angles 𝝓, 𝜽, and 𝝍 so that 𝑹 = 𝑹𝒁𝒀𝒁
If 𝒓𝟏𝟑 ≠ 𝟎 and 𝒓𝟐𝟑 ≠ 𝟎,
it follow that: 𝝓=Atan2(𝒓𝟐𝟑, 𝒓𝟏𝟑)
where the function 𝐴𝑡𝑎𝑛2(𝑦, 𝑥) computes the arctangent of the ration 𝑦/𝑥.
Then squaring the summing of the elements (1,3) and (2,3) and using the element (3,3)
yields:
𝜽=Atan2(+ 𝒓𝟏𝟑
𝟐 + 𝒓𝟐𝟑
𝟐, 𝒓𝟑𝟑) or 𝜽=Atan2(− 𝒓𝟏𝟑
𝟐 + 𝒓𝟐𝟑
𝟐, 𝒓𝟑𝟑)
If we consider the first choice then 𝒔𝒊𝒏(𝜽) > 𝟎 then: 𝝍=Atan2(𝒓𝟑𝟐, −𝒓𝟑𝟏)
If we consider the second choice then 𝒔𝒊 𝒏 𝜽 < 𝟎 then: 𝝍=Atan2(− 𝒓𝟑𝟐, 𝒓𝟑𝟏)
and 𝝓=Atan2(−𝒓𝟐𝟑,−𝒓𝟏𝟑)
75. 10/17/2017
Euler Angles Representation
Given a matrix 𝑅𝜖 𝑆𝑂 3
Determine a set of Euler angles 𝝓, 𝜽, and 𝝍 so that 𝑹 = 𝑹𝒁𝒀𝒁
If 𝒓𝟏𝟑 = 𝒓𝟐𝟑 = 𝟎, then the fact that R is orthogonal implies that 𝒓𝟑𝟑 = ±𝟏 and that 𝒓𝟑𝟏
= 𝒓𝟑𝟐 = 𝟎 thus R has the form:
If 𝒓𝟑𝟑 = +𝟏 then 𝑐𝜃 = 1 and 𝑠𝜃 = 0, so that𝜃 = 0.
Thus, the sum 𝝓 + 𝝍 can be determined as 𝝓 + 𝝍 = Atan2(𝒓𝟐𝟏, 𝒓𝟏𝟏) = Atan2(− 𝒓𝟏𝟐, 𝒓𝟐𝟐)
There is infinity of solutions.
76. 10/17/2017
Euler Angles Representation
Given a matrix 𝑅𝜖 𝑆𝑂 3
Determine a set of Euler angles 𝝓, 𝜽, and 𝝍 so that 𝑹 = 𝑹𝒁𝒀𝒁
If 𝒓𝟏𝟑 = 𝒓𝟐𝟑 = 𝟎, then the fact that R is orthogonal implies that 𝒓𝟑𝟑 = ±𝟏 and that 𝒓𝟑𝟏
= 𝒓𝟑𝟐 = 𝟎 thus R has the form:
If 𝒓𝟑𝟑 = −𝟏 then 𝑐𝜃 = −1 and 𝑠𝜃 = 0, so that 𝜃 = π.
Thus, the 𝝓 − 𝝍 can be determined as 𝝓 − 𝝍 = Atan2(−𝒓𝟏𝟐, −𝒓𝟏𝟏) = Atan2( 𝒓𝟐𝟏, 𝒓𝟐𝟐)
As before there is infinity of solutions.
77. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
78. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
79. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
80. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
81. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
82. 10/17/2017
Yaw-Pitch-Roll Representation
A rotation matrix 𝑹 can also be described as a product of successive rotations about the
principal coordinate axes 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 taken in a specific order. These rotations define
the roll, pitch, and yaw angles, which we shall also denote (𝝓, 𝜽, 𝝍)
We specify the order in three successive rotations as follows:
1. Yaw rotation about 𝒙𝟎 −axis by the angle 𝝍
2. Pitch rotation about 𝒚𝟎 − axis by the angle 𝜽
3. Roll rotation about 𝒛𝟎 − axis by the angle 𝝓
Since the successive rotations are relative to the fixed
frame, the resulting transformation matrix is given by:
Instead of yaw-pitch-roll relative to the fixed frames we could
also interpret the above transformation as roll-pitch-yaw, in
that order, each taken with respect to the current frame.
The end result is the same matrix.
𝝍
𝜽
𝝓
84. 10/17/2017
Axis/Angle Representation
Rotations are not always performed about the principal coordinate axes. We are often
interested in a rotation about an arbitrary axis in space. This provides both a convenient
way to describe rotations, and an alternative parameterization for rotation matrices.
Let 𝒌 = [𝒌𝒙, 𝒌𝒚, 𝒌𝒛]𝑻
, expressed in the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎, be
a unit vector defining an axis. We wish to derive the rotation
matrix 𝑹𝒌,𝜽 representing a rotation of 𝜽 about this axis.
A possible solution is to rotate first 𝒌 by the angles necessary
to align it with 𝒛, then to rotate by 𝜽 about 𝒛, and finally to
rotate by the angels necessary to align the unit vector with
the initial direction.
85. 10/17/2017
Axis/Angle Representation
Rotations are not always performed about the principal coordinate axes. We are often
interested in a rotation about an arbitrary axis in space. This provides both a convenient
way to describe rotations, and an alternative parameterization for rotation matrices.
Let 𝒌 = [𝒌𝒙, 𝒌𝒚, 𝒌𝒛]𝑻
, expressed in the frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎, be
a unit vector defining an axis. We wish to derive the rotation
matrix 𝑹𝒌,𝜽representing a rotation of 𝜽 about this axis.
The sequence of rotations to be made with respect to axes of
fixed frame is the following:
• Align 𝒌 with 𝒛 (which is obtained as the sequence of a
rotation by −𝜶 about 𝒛 and a rotation of −𝜷 about 𝒚).
• Rotate by 𝜽 about 𝒛.
• Realign with the initial direction of 𝒌, which is obtained as
the sequence of a rotation by 𝜷 about 𝒚 and a rotation by
𝜶 about 𝒛.
𝑹𝒌,𝜽 = 𝑹𝒛,𝜶 𝑹𝒚,𝜷𝑹𝒛,𝜽𝑹𝒚,−𝜷𝑹𝒛,−𝜶
87. 10/17/2017
Axis/Angle Representation
Rotations are not always performed about the principal coordinate axes. We are often
interested in a rotation about an arbitrary axis in space. This provides both a convenient
way to describe rotations, and an alternative parameterization for rotation matrices.
𝑹𝒌,𝜽 = 𝑹𝒛,𝜶 𝑹𝒚,𝜷𝑹𝒛,𝜽𝑹𝒚,−𝜷𝑹𝒛,−𝜶
88. 10/17/2017
Axis/Angle Representation
Any rotation matrix 𝑅𝜖 𝑆𝑂 3 can be represented by a single
rotation about a suitable axis in space by a suitable angle.
𝑹 = 𝑹𝒌,𝜽
where 𝒌 is a unit vector defining the axis of rotation, and 𝜽 is
the angle of rotation about 𝒌.
The matrix 𝑹𝒌,𝜽 is called the axis/angle representation of 𝑹.
Given 𝑹 find 𝜽 and 𝒌:
Reminder:
89. 10/17/2017
Axis/Angle Representation
The axis/angle representation is not unique since
a rotation of −𝜽 about −𝒌 is the same as a
rotation of 𝜽 about 𝒌.
𝑹𝒌,𝜽 = 𝑹−𝒌,−𝜽
If 𝜽 = 𝟎 then 𝑹 is the identity matrix and the
axis of rotation is undefined.
90. 10/17/2017
Example
Suppose 𝑹 is generated by a rotation of 90°about 𝑧0 followed by a rotation of 30° about
𝑦0 followed by a rotation of 60°
about 𝑥0. Find the axis/angle representation of 𝑹
Reminder:
The axis/angle representation of 𝑹
91. 10/17/2017
Example
Suppose 𝑹 is generated by a rotation of 90°about 𝑧0 followed by a rotation of 30° about
𝑦0 followed by a rotation of 60°
about 𝑦0. Find the axis/angle representation of 𝑹
Reminder:
The axis/angle representation of 𝑹
92. 10/17/2017
Example
Suppose 𝑹 is generated by a rotation of 90°about 𝑧0 followed by a rotation of 30° about
𝑦0 followed by a rotation of 60°
about 𝑦0. Find the axis/angle representation of 𝑹
Reminder:
The axis/angle representation of 𝑹
93. 10/17/2017
Example
Suppose 𝑹 is generated by a rotation of 90°about 𝑧0 followed by a rotation of 30° about
𝑦0 followed by a rotation of 60°
about 𝑦0. Find the axis/angle representation of 𝑹
Reminder:
The axis/angle representation of 𝑹
94. 10/17/2017
Example
Suppose 𝑹 is generated by a rotation of 90°about 𝑧0 followed by a rotation of 30° about
𝑦0 followed by a rotation of 60°
about 𝑥0. Find the axis/angle representation of 𝑹
Reminder:
The axis/angle representation of 𝑹
95. 10/17/2017
Axis/Angle Representation
The above axis/angle representation characterizes a given
rotation by four quantities, namely the three components
of the equivalent axis 𝒌 and the equivalent angle 𝜽.
However, since the equivalent axis 𝒌 is given as a unit
vector only two of its components are independent.
The third is constrained by the condition that 𝒌 is of unit
length.
Therefore, only three independent quantities are
required in this representation of a rotation 𝑹. We can
represent the equivalent axis/angle by a single vector 𝒓
as:
since 𝒌 is a unit vector, the length of the vector 𝒓 is the
equivalent angle 𝜽 and the direction of 𝒓 is the equivalent
axis 𝒌.
96. 10/17/2017
Rigid Motions
A rigid motion is a pure translation together with a pure rotation.
A rigid motion is an ordered pair (𝒅, 𝑹) where 𝒅 ∈ ℝ𝟑 and 𝑹
∈ 𝑺𝑶 𝟑 . The group of all rigid motions is known as the Special
Euclidean Group and is denoted by 𝑺𝑬 𝟑 . We see then that
𝑺𝑬 𝟑 = ℝ𝟑 × 𝑺𝑶 𝟑 .
97. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
98. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑹𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
99. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒅𝟏
𝟎
𝑹𝟏
𝟎
𝒑
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
100. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
,
then the coordinates 𝒑𝟎 are given by:
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒅𝟏
𝟎
𝑹𝟏
𝟎
𝒑
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑𝟎
𝒑𝟏
101. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
,
then the coordinates 𝒑𝟎 are given by:
𝒑𝟎 = 𝑹𝟏
𝟎
𝒑𝟏 + 𝒅𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒅𝟏
𝟎
𝑹𝟏
𝟎
𝒑
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑𝟎
𝒑𝟏
102. 10/17/2017
One Rigid Motion
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
,
then the coordinates 𝒑𝟎 are given by:
𝒑𝟎 = 𝑹𝟏
𝟎
𝒑𝟏 + 𝒅𝟏
𝟎
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒅𝟏
𝟎
𝑹𝟏
𝟎
𝒑
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑𝟎
𝒑𝟏
103. 10/17/2017
Two Rigid Motions
If frame 𝒐𝟐 𝒙𝟐 𝒚𝟐 𝒛𝟐 is obtained from frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 by first applying a rotation
specified by 𝑹𝟐
𝟏
followed by a translation given (with respect to 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏) by 𝒅𝟐
𝟏
.
If frame 𝒐𝟏 𝒙𝟏 𝒚𝟏 𝒛𝟏 is obtained from frame 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 by first applying a rotation
specified by 𝑹𝟏
𝟎
followed by a translation given (with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎) by 𝒅𝟏
𝟎
,
find the coordinates 𝒑𝟎.
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
For the first rigid motion:
𝒑𝟎
= 𝑹𝟏
𝟎
𝒑𝟏
+ 𝒅𝟏
𝟎
For the second rigid motion:
𝒑𝟏
= 𝑹𝟐
𝟏
𝒑𝟐
+ 𝒅𝟐
𝟏
Both rigid motions can be described as one rigid
motion:
𝒑𝟎
= 𝑹𝟐
𝟎
𝒑𝟐
+ 𝒅𝟐
𝟎
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
104. 10/17/2017
Two Rigid Motions
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
𝑹𝟐
𝟎
The orientation transformations can simply be multiplied together.
𝒅𝟐
𝟎
The translation transformation is the sum of:
• 𝒅𝟏
𝟎
the vector from the origin 𝑜0 to the origin 𝑜1 expressed with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
• 𝑹𝟏
𝟎
𝒅𝟐
𝟏
the vector from 𝑜1 to 𝑜2 expressed in the orientation of the coordinate system
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
108. 10/17/2017
Homogeneous Transformations
A long sequence of rigid motions, find 𝒑𝟎.
Represent rigid motions in matrix so that
composition of rigid motions can be reduced to
matrix multiplication as was the case for
composition of rotations
𝒑𝟎
= 𝑹𝒏
𝟎
𝒑𝒏
+ 𝒅𝒏
𝟎
𝐇 =
𝑹 𝒅
; 𝒅 ∈ ℝ𝟑
, 𝑹 ∈ 𝑺𝑶 𝟑
109. 10/17/2017
Homogeneous Transformations
A long sequence of rigid motions, find 𝒑𝟎.
Represent rigid motions in matrix so that
composition of rigid motions can be reduced to
matrix multiplication as was the case for
composition of rotations
𝒑𝟎
= 𝑹𝒏
𝟎
𝒑𝒏
+ 𝒅𝒏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑
, 𝑹 ∈ 𝑺𝑶 𝟑
Transformation matrices of the form H are called homogeneous transformations.
A homogeneous transformation is therefore a matrix representation of a rigid motion.
110. 10/17/2017
Homogeneous Transformations
A long sequence of rigid motions, find 𝒑𝟎.
Represent rigid motions in matrix so that
composition of rigid motions can be reduced to
matrix multiplication as was the case for
composition of rotations
𝒑𝟎
= 𝑹𝒏
𝟎
𝒑𝒏
+ 𝒅𝒏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑
, 𝑹 ∈ 𝑺𝑶 𝟑
𝐇−𝟏
= 𝑹𝑻 −𝑹𝑻𝒅
𝟎 𝟏
The inverse transformation 𝑯−𝟏is given by
111. 10/17/2017
Ex. :Two Rigid Motions
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
𝑹𝟐
𝟎
The orientation transformations can simply be multiplied together.
𝒅𝟐
𝟎
The translation transformation is the sum of:
• 𝒅𝟏
𝟎
the vector from the origin 𝑜0 to the origin 𝑜1 expressed with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
• 𝑹𝟏
𝟎
𝒅𝟐
𝟏
the vector from 𝑜1 to 𝑜2 expressed in the orientation of the coordinate system
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑, 𝑹 ∈ 𝑺𝑶 𝟑
𝑹𝟏
𝟎
𝒅𝟏
𝟎
𝟎 𝟏
𝑹𝟐
𝟏
𝒅𝟐
𝟏
𝟎 𝟏
= 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
0 1
112. 10/17/2017
Ex. :Two Rigid Motions
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
𝑹𝟐
𝟎
The orientation transformations can simply be multiplied together.
𝒅𝟐
𝟎
The translation transformation is the sum of:
• 𝒅𝟏
𝟎
the vector from the origin 𝑜0 to the origin 𝑜1 expressed with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
• 𝑹𝟏
𝟎
𝒅𝟐
𝟏
the vector from 𝑜1 to 𝑜2 expressed in the orientation of the coordinate system
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑, 𝑹 ∈ 𝑺𝑶 𝟑
𝑹𝟏
𝟎
𝒅𝟏
𝟎
𝟎 𝟏
𝑹𝟐
𝟏
𝒅𝟐
𝟏
𝟎 𝟏
= 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
0 1
113. 10/17/2017
Ex. :Two Rigid Motions
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
𝑹𝟐
𝟎
The orientation transformations can simply be multiplied together.
𝒅𝟐
𝟎
The translation transformation is the sum of:
• 𝒅𝟏
𝟎
the vector from the origin 𝑜0 to the origin 𝑜1 expressed with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
• 𝑹𝟏
𝟎
𝒅𝟐
𝟏
the vector from 𝑜1 to 𝑜2 expressed in the orientation of the coordinate system
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑, 𝑹 ∈ 𝑺𝑶 𝟑
𝑹𝟏
𝟎
𝒅𝟏
𝟎
𝟎 𝟏
𝑹𝟐
𝟏
𝒅𝟐
𝟏
𝟎 𝟏
= 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
0 1
114. 10/17/2017
Ex. :Two Rigid Motions
𝑥0
𝑦0
𝑧0
𝑦1
𝑥1
𝑧1
𝒑
𝑧2
𝑦2
𝑥2
𝑹𝟐
𝟎
The orientation transformations can simply be multiplied together.
𝒅𝟐
𝟎
The translation transformation is the sum of:
• 𝒅𝟏
𝟎
the vector from the origin 𝑜0 to the origin 𝑜1 expressed with respect to 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
• 𝑹𝟏
𝟎
𝒅𝟐
𝟏
the vector from 𝑜1 to 𝑜2 expressed in the orientation of the coordinate system
𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎.
𝒑𝟎 = 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝒑𝟐 + 𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
𝐇 =
𝑹 𝒅
𝟎 𝟏
; 𝒅 ∈ ℝ𝟑, 𝑹 ∈ 𝑺𝑶 𝟑
𝑹𝟏
𝟎
𝒅𝟏
𝟎
𝟎 𝟏
𝑹𝟐
𝟏
𝒅𝟐
𝟏
𝟎 𝟏
= 𝑹𝟏
𝟎
𝑹𝟐
𝟏
𝑹𝟏
𝟎
𝒅𝟐
𝟏
+ 𝒅𝟏
𝟎
0 1
We must augment the vectors 𝒑𝟎
, 𝒑𝟏
and 𝒑𝟐
by the addition
of a fourth component of 1:
𝑷𝟎
= 𝒑𝟎
1
, 𝑷𝟏
= 𝒑𝟏
1
, 𝑷𝟐
= 𝒑𝟐
1
117. 10/17/2017
Homogeneous Transformations
𝐻1
0
=
𝑛𝑥 𝑠𝑥
𝑛𝑦 𝑠𝑦
𝑎𝑥 𝑑𝑥
𝑎𝑦 𝑑𝑦
𝑛𝑧 𝑠𝑧
0 0
𝑎𝑧 𝑑𝑧
0 1
=
𝑛 𝑠
0 0
𝑎 𝑑
0 1
𝒏 is a vector representing the direction of 𝒙𝟏 in the 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 system
𝒔 is a vector representing the direction of 𝒚𝟏 in the 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 system
𝒂 is a vector representing the direction of 𝒛𝟏 in the 𝒐𝟎 𝒙𝟎 𝒚𝟎 𝒛𝟎 system
118. 10/17/2017
Composition Rule For Homogeneous
Transformations
Given a homogeneous transformation 𝑯𝟏
𝟎
relating two frames, if a second rigid
motion, represented by 𝑯 is performed relative to the current frame, then:
𝐻 2
0
= 𝐻1
0
𝐻
whereas if the second rigid motion is performed relative to the fixed frame, then:
𝐻 2
0
= 𝐻 𝐻1
0
119. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
120. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
121. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
122. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
123. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
124. 10/17/2017
Example
Find 𝑯 for the following sequence of
1. a rotation by 𝜶 about the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
2. a translation of 𝒃 units along the current 𝒙 − 𝒂𝒙𝒊𝒔, followed by
3. a translation of 𝒅 units along the current 𝒛 − 𝒂𝒙𝒊𝒔, followed by
4. a rotation by angle 𝚹 about the current 𝒛 − 𝒂𝒙𝒊𝒔
Transformation with
respect to the current
frame
𝑯 𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯
Transformation with
respect to the fixed
frame
𝑯 𝟐
𝟎
= 𝑯 𝑯𝟏
𝟎
Reminder:
125. 10/17/2017
Example
Find the homogeneous transformations 𝑯𝟏
𝟎
, 𝑯𝟐
𝟎
, 𝑯𝟐
𝟏
representing the transformations among the three frames
Shown. Show that 𝑯𝟐
𝟎
= 𝑯𝟏
𝟎
𝑯𝟐
𝟏
.