Translation of Vectors

Suppose 1P is translated by a vector 1D to get 1Q as in

figure. Then the vector 1Q is given by

1Q = 1P + 1D

Here, as in the case of rotations, instead of moving the

vector "forward" by 1D, the frame can be moved in the
opposite sense, as shown in Fig. (b), which is equivalent
to the problem of mapping. This explains why Eq. (2.38)
is similar to Equation (1P = 2P + 1D2) obtained by
mapping between translated frames.

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Combined Rotation and Translation of Vectors
Consider a vector 1P in frame {1}, which is given a rotation of θ about the k-axis followed
by a translation of 1D to obtain the new vector 2P. If T is the transformation matrix that
describes a frame rotated by R(θ) and translated by 1D with respect to another frame, then
2P=T⋅1P

The rotation and translation relationships in Eqs. 2P = 2T1⋅1P and 2P=T⋅1P

are the same; only the viewpoint differs. It can then be stated that, “A vector transformation
that rotates the vector by θ and translates it by 1D is the same as the homogeneous
transformation T, which describes a frame rotated by θ and translated by 1D relative to the
reference frame.”

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Composite Transformation
Three frames, with each frame rotated and translated from its preceding frame, are
depicted in Figure. It is proposed to find the transform that relates 3P in
frame {3} to 1P, as it is seen from frame {1}.
The homogeneous transformation matrix 1T3​, which maps 3P in
frame {3} to 1P in frame {1}, is obtained by composing the
sequential transformations between the frames. If 1T2 represents the
transformation from frame {1} to {2}, and 2T3 represents the
transformation from {2} to {3}, then:
1T ​=1T ⋅2T
3 2 3

Thus, the relationship is:

1P=1T ⋅3P
3 It easily follows that the transformation
This means the final transformation combines the rotation and from frame {i}, to frame {1} is
translation steps from {1} to {3} to express 3P in the coordinates of 1T ​=1T ⋅2T ⋅3T ⋅⋅⋅⋅⋅⋅jT
j+1 ⋅⋅⋅⋅⋅⋅ Ti
i-1
i 2 3 4
frame {1}.
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Inverting a Homogeneous Transformation
• In robotic analysis, often iTj is required, while jTi is known. This is found by computing the inverse of jTi .
The inverse of the 4×4 transformation matrix can be computed using the conventional methods of matrix
inversion. However, the homogeneous transform T can be inverted by exploiting its structure. Consider two
frames, frame {1} and frame {2}, rotated and translated relative to each other as shown in Figure.
• Knowing 1T2, its inverse 2T1 is to be found. Being inverses of each other, these homogeneous transform
matrices are related as:
−1
2 ​=( 1 ​) and T2 ⋅ T1 ​=I, where I is a 4×4 identity matrix.
1T 2T 1 2

Homogenious transforms
1T ​and 2T can be writen as :
2 1

Invers of hogenious transforms

1T ​and 2T can be writen as :
2 1

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Fundemental Rotational Matrixs
In the previous section, the background to describe the orientation of frame {2} with
respect to frame {1} has been developed. These concepts are now applied to rotation
matrices in different situations. A frame {2} may be rotated about one or more of the
principal axes, an arbitrary axis, or by some fixed angles relative to frame {1}. Each
of these situations is discussed in this section.

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Principal Axes Rotation
To determine the orientation of frame {2}, which is rotated about one of
the three principal axes of frame {1}, consider, for example, the rotation
of frame {2} with respect to frame {1} by angle θ about the z-axis of
frame {1}, as shown in a 3-D view in Figure (a) and on the xy-plane in
Figure (b). The corresponding rotation matrix 1R2, known as
the fundamental rotation matrix, is denoted by the symbol Rz(θ) or R(z,θ),
or Rz,θ.

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Principal Axes Rotation

Eg. Overall rotation

matrix representinf a
roation of angle θ1 about
x-axis flowed by a
Ci = Cθi = cos θi
rotation of angle θ2 about
Si = Sθi = sin θi
y-axis can be obtained
by
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38
Principal Axes Rotation
There are two means how the rotations are perfromed.
i. Successive rotation about the principle axes of the fixed frame
ii. Successive roation about the current pricipal axes of a moving frame

Effect of order of rotation of a cuboid axes of Effect of order of rotation of a cuboid

the principal axes of a fixed frame. axes of the moving frame.

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Fixed Angle Representation
Let the fixed frame {1} (frame{xyz}) and moving frame {2} (frame {uvw}) be initially coincident.
Consider the sequence of rotations about the three axes of the fixed frame {1} as shown in figure a,b,c.
1.First Rotation (about the x-axis):
Frame {2} is rotated by θ1 about the x-axis of {1} to become
frame {2′}. This is described by the rotation matrix:

2.Second Rotation (about the y-axis):

Frame {2′} is rotated by θ2 about the y-axis of {1} to become
frame {2′′}. This is described by the rotation matrix:

3. Third Rotation (about the z-axis):

Frame {2′} is rotated by θ2 about the z-axis of {1}to become
frame {2}. This is described by the rotation matrix:
40
Fixed Angle Representation
Composite Rotation Matrix:
The total rotation matrix Rtotal​, which maps frame {2} to {1}, is computed by
multiplying the individual matrices in the order of application (fixed-axis rotations
are composed as X→Y→Z, but matrix multiplication is right-to-left):
Rtotal​=Rz(θ3​)⋅Ry(θ2​)⋅Rx​(θ1​)
Here, Rz​(θ3​) is explicitly included as the final rotation step.

Note!

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Euler Angle Representations
The moving frame, insted of rotating about the pricipal axes of the fixed frame, can rotate about its
own pricipal axes.
Consider the frame {2} with respect to frame {1},

WVU – Euler angle representaion

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Euler Angle Representations
The equilent rotations matrix can be computed by

The rotations are performed about the current axes of the moving frame {uvw})
The resulting frame orientation or the rotation matrix is given by:

Note: Three rotations perfromaed about fixed axes give the same final orientation as
obtained by the same three rotation perfromaed in the opposite order about the
moving axes.
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Euler Angle ZYZ Representations
Another widely used Euler angle representation employs the ZYZ sequence of rotations about the axes of the current
(rotated) frame. The sequence of elementary rotations is as follows:

First Rotation (θ1 about the w-axis):

A rotation by angle θ1 about the w-axis (initially aligned with the z-
axis of the fixed frame {1}). This is described by the rotation matrix:

Second Rotation (θ2 about the rotated v-axis):

After the first rotation, the v-axis (now the new y-axis of
the rotated frame) is used for the second rotation by θ2:

Third Rotation (θ3 about the rotated w-axis):

Finally, a rotation by θ3 is performed about the new w-axis (which
was reoriented after the first two rotations):

44
Euler Angle ZYZ Representations
The total rotation matrix is obtained by multiplying the individual matrices in the order of application (intrinsic
rotations, right-to-left composition):

45
 Equivalent Angle Axis Representation
A third method to represent orientation involves a single rotation about an arbitrary axis k passing through the origin of
the fixed reference frame {1}. This approach derives the rotation matrix by decomposing the rotation into a sequence
of elementary rotations about the principal axes (x, y, z) of the fixed frame {1}.
Align k with the x-axis:
Step 1: Rotate k by−α about the z-axis to place k in the xz-plane:

Step 2: Rotate kk by β about the y-axis to align kk with the x-axis:

Equivalent angle axis representation.

Step 3: Rotate by θ about the aligned x-axis:

Rotation of frame about k-axis.

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Equivalent Angle Axis Representation
Step 4: Reverse alignment rotations:
1. Rotate by −β about y-axis.
2. Rotate by α about z-axis.

47
Equivalent Angle Axis Representation
Composite Rotation Matrix:

Special Cases:

If k aligns with z-axis (kx=ky=0,kz=1):

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Ex:

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50
EX:

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52
EX

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54
55
Position and Orientation in a 3D Coordinate
Frame

56
Geometric Interpretation of Rotation Matrix

57
Inverse Transformations

58
Thank You

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