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Introduction Torobotics - Chapter3

Chapter II of 'Introduction to Robotics' discusses the spatial descriptions and transformations necessary for understanding the orientation of a body in relation to a reference coordinate system. It explains how to represent the orientation using rotation matrices and direction cosines, and provides examples of mapping positions and rotations between different frames. The chapter also covers complex motions involving both translation and rotation, as well as the use of Euler angles for defining orientations.

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14 views19 pages

Introduction Torobotics - Chapter3

Chapter II of 'Introduction to Robotics' discusses the spatial descriptions and transformations necessary for understanding the orientation of a body in relation to a reference coordinate system. It explains how to represent the orientation using rotation matrices and direction cosines, and provides examples of mapping positions and rotations between different frames. The chapter also covers complex motions involving both translation and rotation, as well as the use of Euler angles for defining orientations.

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sarakharfan1234
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© © All Rights Reserved
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Introduction to Robotics

Chapter II

Spatial Descriptions and


Transformations
Dr. Hassan SHRAIM
[Link]@[Link]
Orientation of a body
In order to describe the orientation of
a body, we will attach a coordinate
system to the body and then give a
description of this coordinate system
relative to the reference system.

Positions of points are described with


vectors and orientations of bodies are
described with an attached
coordinate system. One way to
describe the body attached
coordinate system ‘B’, is to write the
unit vector s of its three principal axes
in terms of the coordinate system A.
Orientation of a body
We denote the unit vectors giving the principal directions of the coordinate
system ‘B’ as :

When written in terms of the coordinate system {A}, they are called:

It will be convenient if we stack these three unit vectors together as the columns
of a 3x3 matrix, in the order :

The resulted matrix is called a rotation matrix. This matrix describes ‘B’ relative to
‘A’, we name it with the notation :
Orientation of a body
We can give expressions for the scalars rij by noting that the components of any vector
Is simply the projections of that vector onto the unit directions of its reference frame.
Hence each component can be written as the dot product of a pair of unit vectors as :

Since the dot product odf two unit vectors yields the cosine of the angles between them,
it is clear why the components of rotation are often referred to as direction cosines.
The rows of the matrix, are the unit vectors of ‘A’ expressed in ‘B’.
Orientation of a body
Hence , the description of the frame ‘A’ relative to ‘B’ is given by :

Then, the inverse of the rotation matrix is equal to its transpose, which can be verified
as:
Frame Description
Frames : Univers frame, ‘A’, ‘B’, and ‘C’
Mappings
We have a position defined by the vector BP, We wish to express this point in space in terms of
the frame ‘A’, when ‘B’ and A have the same orientation (pure translation).
Mappings
In the case of rotation:

Or
Example
‘B’ is rotated 30° around Z. Given B [0, 2, 0], find
Example
The results are:

And
Mapping involving general frames
In the general case, we have , a pure translation and a pure rotation
Mapping involving general frames
In the general case, we have a complex motion: a pure translation and a pure rotation

Or in a matrix form:
Example
Frames : Rotation by 30°, 10 units in XA and 5 units in XB Find AP where
BP[3,7,0].
Example
Euler angles
Example
Example
Consider two rotations: about Z 30° and about X 30°
Equivalent angle axis
If the axis is a general axis, (rather than one of the unit directions), any orientation may be
obtained through proper axis and angle selection.

A general orientation of ‘B’ relative to ‘A’ is defined as:

Where
Example

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