Introduction to

ROBOTICS
Kinematics
Pose (position and orientation)
of a Rigid Body
University of Bridgeport

1
 Representing Position (2D)
y
 5
p   (“column” vector) p
 2 2

p 5 xˆ  2 yˆ 5 x

x̂ A vector of length one pointing

in the direction of the base
frame x axis
ŷ A vector of length one pointing
in the direction of the base
frame y axis
2
 Representing Position: vectors
ŷb
• The prefix superscript denotes the
reference frame in which the vector
yˆ a
should be understood p
2
2 xˆa
3
b x̂b
5

b  5   3  8   3
p         a
p  
 2  2  4  2

Same point, two different

reference frames
3
 Representing Position: vectors (3D)
y y
p

x x
z
 2 z

p  5
right-handed
coordinate frame

 2
x̂ A vector of length one pointing in the
direction of the base frame x axis
p 2 xˆ  5 yˆ  2 zˆ
ŷ A vector of length one pointing in the
direction of the base frame y axis
ẑ A vector of length one pointing in the
4
direction of the base frame z axis
 The rotation matrix

yˆ B yˆ A
A  cos   sin   
RB   p
 sin   cos  
A
p ARB B p  xˆB

A
RB :To specify the coordinate vectors  xˆ A
for the fame B with respect to
frame A
θ: The angle between xˆ A and xˆB
B A 1  cos  sin   
RA  RB   in anti clockwise direction
  sin   cos  
B
p BR A A p 5
 The rotation matrix

yˆ B yˆ A
A

RB  A xB 2 x1 A
y B 2 x1 
A
xB 2 x1 cos  xˆ A  sin  . yˆ A  xˆB

A
 xˆ A
yB 2 x1  sin  xˆ A  cos  yˆ A

6
 Useful formulas

B
A R ( BAR )  1 ( BAR)T
R R  1 I
B
A R.BA R I
Det ( R ) 1

7
 Example 1
B 10
p   A
10 B
yˆ yˆ

A
find p
B
xˆ
A  cos 30  sin  30  30
RB  
 sin  30 cos 30  30 A
 3  1 xˆ
 
A A B
A
RB  2 2  p  RB p
 1 3  3  1
   
 2 2  A
P  2 2   10   3.6603 
 1 3   10   13.6603 
  8
 2 2 
 Example 1
A 10
p   A
10 B
yˆ yˆ

B
find p
B
xˆ
B  cos  30  sin   30   30
R A  
 sin   30  cos  30  30 A
 3 1 
xˆ
 
B B A
B
RA   2 2  p  RA p
1 3  3 1 
   
 2 2  B  2 2   10   13.6603 
P    
1 3   10   3.6603 
  9
 2 2 
 Example 1

Another Solution

A  cos 30  sin  30 

RB  
 sin  30 cos 30 

B A 1 B A T
R A  RB OR RA  RB

B  cos 30  sin  30 

RA  
 sin  30 cos 30 
10
 Basic Rotation Matrix
– Rotation about x-axis with
1 0 0  z
w
Rot ( x, )  0 C  S  P v
 0 S C 
 px   pu  
 p   R ( x,  )  p  y
u
 y  v x
 p z   pw 
p x  pu
p y  pv cos   pw sin 
p z  pv sin   pw cos  11
 Basic Rotation Matrices
– Rotation about x-axis with 
1 0 0 
Rx , Rot ( x, )  0 C  S 
 0 S C 
– Rotation about y-axis with 
 C 0 S 
R y , Rot ( y,  )  0 1 0 
  S 0 C 

– Rotation about z-axis with 

 C  S 0
Rz , Rot ( z , )  S C 0
Pxyz RPuvw  0 0 1
12
 Example 2
• A point puvw (4,3,2) is attached to a rotating frame,
the frame rotates 60 degree about the OZ axis of
the reference frame. Find the coordinates of the
point relative to the reference frame after the
rotation.
p xyz Rot ( z ,60) puvw
 0.5  0.866 0  4   0.598
 0.866 0.5 0  3  4.964 
 0 0 1  2  2 

13
 Example 3
• A point a xyz (4,3,2) is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated
OUVW coordinate system if it has been
rotated 60 degree about OZ axis.
puvw Rot ( z , 60)T pxyz
OR : puvw Rot ( z , 60)  1 pxyz
OR : puvw Rot ( z ,  60) pxyz
 0.5 0.866 0   4   4.598 
  0.866 0.5 0   3    1.964 
 0 0 1   2   2  14
 Composite Rotation Matrix
• A sequence of finite rotations
– matrix multiplications do not commute
– rules:
• if rotating coordinate OUVW is rotating about
principal axis of OXYZ frame, then Pre-multiply the
previous (resultant) rotation matrix with an
appropriate basic rotation matrix [rotation about
fixed frame]
• if rotating coordinate OUVW is rotating about its
own principal axes, then post-multiply the previous
(resultant) rotation matrix with an appropriate basic
rotation matrix [rotation about current frame]
15
Rotation with respect to Current
Frame
A A B
P RB P
B
PBRC P C
C C D
P RD P

A
P ARD P D ARB B RC C RD P D
A A B
RD  RB RD
A
RD ARB B RC C RD 16
 Example 4
• Find the rotation matrix for the following
operations:
R Rot ( y,  ) Rot ( z , ) Rot ( x,  )
 C 0 S   C  S 0  1 0 0 
Rotation  about Y axis  0 1 0   S C 0  0 C  S 
Rotation  about current Z axis  - S 0 C   0 0 1  0 S C 

Rotation  about current X axis  CC SS  CSC CSS  SC 

 S CC  CS 

  SC SSC  CS CC  SSS 

Pre-multiply if rotate about the fixed frame

Post-multiply if rotate about the current
17
frame
 Example 5
• Find the rotation matrix for the following
operations:
R Rot ( y,  ) Rot ( z ,  ) Rot ( x,  )
Rotation  about X axis  C 0 S    C  S
0  1 0 0 
 0 1 0   S C 0  0 C  S 
Rotation  about fixed Z axis 

 - S 0 C   0 0 1  0 S C 
Rotation  about fixed Y axis
 CC SS  CSC CSS  SC 
 S CC  CS 

  SC SSC  CS CC  SSS 
Pre-multiply if rotate about the fixed frame
Post-multiply if rotate about the current
frame
18
 Example 6
• Find the rotation matrix for the following
operations:
Rotation  about X axis
Rotation  about current Z axis
Rotation  about fixed Z axis
Rotation  about current Y axis
Rotation  about fixed X axis

Pre-multiply if rotate about the fixed frame

Post-multiply if rotate about the current
19
frame
 Example 6
• Find the rotation matrix for the following
operations:
Rotation  about X axis
Rotation  about current Z axis
Rotation  about fixed Z axis
Rotation  about current Y axis
Rotation  about fixed X axis

R Rot ( x,  ) Rot ( z ,  ) Rot ( x,  ) Rot ( z ,  ) Rot ( y,  )

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 Quiz
• Description of Roll Pitch Yaw
• Find the rotation matrix for the following
operations: Z
Rotation  about X axis{ROLL} 
Rotation  about fixed Y axis{PITCH}
Rotation  about fixed Z axis{YAW}
 Y

X
21
 Z
Answer

Rotation  about X axis
Rotation  about fixed Y axis
Rotation  about fixed Z axis Y


R Rot ( z ,  ) Rot ( y, ) Rot ( x, )
X
 C  S 0  C 0 S   1 0 0 
 S C 0  0 1 0   0 C  S 
 0 0 1  - S 0 C   0 S C 
 CC  SS  CSS CSC  SS 
 SC CSS  CS  CS  SSC 
  S CS CC 
22
 Coordinate Transformations
• position vector of P
in {B} is transformed
to position vector of P
in {A}

• description of
frame{B} as seen
from an observer in
{A}

Rotation of {B} with respect to {A}

Translation of the origin of {B} with respect to origin of {A} 23
Homogeneous Representation
• Coordinate transformation from {B} to {A}
A A B A
rP  RB rp  ro '

Can be written as A A
P H B PB

Rotation
matrix
(3*3)

A
A  RB pBA 
H B  
 013 1 Position
vector
(3*1)
24
Homogeneous Representation
A
P AH B B P  A xp   B xp 
A  B 
A  yp  yp 
P A B 
P B
 zp   zp 
   
Rotation
 1   1 
matrix
(3*3)

A
A  RB pBA 
H B   Position vector
 013 1 of the origin of
frame B wrt
frame A (3*1) 25
Homogeneous Transformation
• Special cases
1. Translation
A
A  I 33 p 
B
H B  
 013 1

2. Rotation
A
A  RB 031 
H B  
 013 1 

26
 Example 7
• Translation along Z-axis with h:
1 0 0 0  x  1 0 0 0   p x1   p x1 
0 1 0 0   y  0 1 0 0   p y1   p y1 
Trans ( z , h)     
0 0 1 h  z 0 0 1 h p z1
    p z1  h
        
0 0 0 1  1  0 0 0 1  1   1 
z z P
P
B
z y
y
w B
y
v
B
x h
x x
O
u 27
O
 Example 7
• Translation along Z-axis with h:
0 0 B
P H B P

 x  1 0 0 0   p xB   p xB 
 y  0 1 0 0   p y B   p y B 
   
 z 0 0 1 h  p yB   p zB  h
      
 1  0 0 0 1  1   1 

28
 Example 8
• Rotation about the X-axis by 
1 0 0 0  x  1 0 0 0  p x1 
 0 C  S 0  y   0 C  S 0  p y1 
Rot ( x,  )    
 0 S C 0  z   0 S C 0  p z1 
      
0 0 0 1  1  0 0 0 1  1 

z
z1
P
 y1


y
x1
x 29
 Homogeneous Transformation
• Composite Homogeneous Transformation
Matrix
• Rules:
– Transformation (rotation/translation) w.r.t fixed
frame, using pre-multiplication
– Transformation (rotation/translation) w.r.t
current frame, using post-multiplication

30
 Example 9
• Find the homogeneous transformation matrix
(H) for the following operations:
Rotation  about OX axis
Translation of a along OX axis
Translation of d along OZ axis
Rotation of  about OZ axis
H Rot z , Trans z ,d Trans x ,a Rot x ,

Answer :  C  S 0 0  1 0 0 0  1 0 0 a  1 0 0 0
 S C 0 0  0 1 0 0   0 1 0 0   0 C  S 0

 0 0 1 0  0 0 1 d 0 0 1 0   0 S C 0
    
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1
31
Remember those double-angle formulas…

sin    sin   cos  cos  sin  

cos   cos  cos  sin   sin  

32
 Review of matrix transpose

 a11 a12 a13   a11 a21 a31 

A  a21 a22 a23  AT  a12 a22 a32 
 a31 a32 a33   a13 a23 a33 

 a11 a12 a13 

a a22 a23 
 21
 a31 a32 a33 

 5 T
p   T
p  5 2 Important property: A T BT  BA 
 2
33
 and matrix multiplication…

 a11 a12   b11 b12 

A  B 
 a21 a22  b b
 21 22 


 a11 a12   b11 b12   a11b11  a12b21 a11b12  a12b22 

AB  
 a21 a22   b21 b22   a21b11  a22b21 a21b12  a22b22 
  

Can represent dot product as a matrix multiply:

 bx 
a b a x bx  a y by  a x   T
a y   a b
 by 
34
 HW
• Problems 2.10, 2.11, 2.12, 2.13,
2.14 ,2.15, 2.22, 2.24, 2.37, and 2.39

• Quiz next class

35