Spatial Descriptions

Task Description

Movie Segment Transformations

Representations
Passive Walking, Tad McGeer,
Fraser Univ, British Columbia,
ICRA 1991 video proceedings

Manipulator Prismatic Joint

Revolute
Joint

End-Effector
n moving link
Base Links:
1 fixed link
Revolute (1 DOF)
Joints:
Prismatic (1 DOF)

Configuration Parameters

A set of position parameters that describes

the full configuration of the system.
9 parameters/link

Kinematics
Generalized coordinates
A set of independent configuration parameters

Degrees of Freedom
Number of generalized coordinates

1
Generalized Coordinates End-Efector Configuration
Parameters

{0} 0n1

A set of m parameters:
( x1 , x2 , x3 , , xm )
that completely specifies the end-effector
position and orientation with respect to{0}

Generalized Coordinates Operational Coordinates

On1 : Operational point

{0} 0n1
6 parameters { 3 positions
3 orientations

A set x1 , x2 , , xm 0
of m0 independent configuration parameters
n moving links: 6n parameters m 0 : number of degrees of freedom
of the end-effector.

Generalized Coordinates Joint Coordinates Joint Space

6 parameters { 3 positions
3 orientations
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xy
5 constraints

y
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x
n moving links: 6n parameters
n 1 d.o.f. joints: 5n constraints Operational Coordinates Operational Space
d.o.f. (system): 6n - 5n = n

2
 Redundancy Coordinate Frames

A robot is said to
be redundant if

n m0

Degrees of redundancy: n m0

Rigid Body Configuration

Position of a Point
^
YB
^ {A}
Z ^ {B}
A ZB
With respect to a fixed A

origin O, the position P ^

P of a point P is described XB

by the vector OP or
p ^
simply by p. Y A

Position: AP
^
X
Orientation: {A^ ^ ,AZ^ }
A
O XB,AYB B

describes rotations of {B} with respect to {A}

Rotation Matrix

Rotation Matrix
Rigid Body Configuration ^ {A}
ZA ^
Y
r11 r12 r13 ^ {B}
ZB
B

r r r
A
B R 21 22 23 ^A
p
YBP
^ {B}
OP r31 r32 r33
Q P ZB ^
q OQ
XB
E q ^
Y A
Euclidian p A
XB BAR BXB ^
XB
Space ^
X
O z
A

P 1 0 0
A
p
A A A A
XB R 0 YB BR 1 ZB BR 0
A
Cartesian Frame 0 y B
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0 0 1
A
BRAXB AYB AZB

3
Rotation Matrix Description of a Frame
^ {A}
Z with respect to another reference frame
A
A
B R XB AYB AZB
A
{A} ^
XB
Z^B
{B}
^
Y
^ {B}
B
Z A
Dot Product B PBORG ^
YB
X B . X A ^
Y A
^
X B X B .YA
A
^
XB
X
A

X B .Z A
Frame {B}: X B , YB , Z B , PBorg
A A A A
XB.X A YB.X A ZB.X A
B
X AT

B R XB.YA
A

YB.YA ZB.YA

lBq n A
B R A
PBorg s
XB.ZA YB.ZA ZB.ZA

Rotation Matrix B X AT Mapping

T
A
BR AXB YB
A
ZB BYAT B X A BYA B Z A AB RT
A
changing descriptions from frame to frame
B T
Z A Rotations
A
B R R B
A
T
{A}
{B} If P is given in {B}: BP
P
Inverse of Rotation Matrices F X . PI F X
B B B T
I
P G Y . P J G Y JJ . P
A A
A 1
R R R B A T A
GG Z . P JJ GG Z
B
A
B B T
A
B

JK
B A B
H K H
B
A
B B T
A

1
A
B R R A
B
T
Orthonormal Matrix P BAR BP
A

^
Example ^
Y
Z A Translations {B} P
B {A} A
P B
{A} P

{B} PBORG
OB
O ^
Y A OA
^
X
F1 I
A
changing the position description of a point P
0 0 B X AT
R G0 JJ
0 1 B YAT
GH 0
A
B OBP OAP (Two different vectors)
0 K Z
B T
1 A
PBORG : POB POA

A P OA= P OB+ PBORG
XB AYB AZB

4
 General Transform Operators
A
P Mapping: changing descriptions from frame to frame
{A} B
P
Operators: moving points (within the same frame)
A
PBORG {A}
{B} A
Mapping
P
P = ABR BP
A
P = ABRBP + APBORG

P2
R R: P1 P2
Rotational Operator
P1

P2 = R P1

Homogeneous Transform Rotational Operators

A
P
B
RK(: P1 P2
{A} P
A
P2 = RK( P1
PBORG Z P2
Example
LM1 0 0 OP P1
A
P= A B
BR P
A
+ PBORG MM
R X ( ) 0 cos sin PP Y

P R
A A A
PBorg P
B N
0 sin cos Q X

B

1 0 0 0 1 1 1 0 0 0 0
A A B P2 RX ( ) P1 0 0.8 0.6 2 1
P = BT P
(4x1) (4x4) (4x1) 0 0.6 0.8 1 2

{B} YB {B} P2
Example LM0OP
MM11PP
Translations
{A} ZA ? ZN QB {A} POB
POA

LM0OP XB
MM3PP
YA
N1Q PBORG

XA
LM1 0 0 0 OP LM0OP
Mapping: PBORG : POB POA (same point)
TM PP PM P
Homogeneous 0 0 1 3 1
MM0 MM1PP 2 diff. vectors
A B

Transform B

N0
1 0 1
0 0 1
PQ N1Q
POA = POB + PBORG
LM0OP
PM P
2
A
P T. P A B
MM2PP
A

B
N 1Q

5
 {B} P2
Translations P1 Translation Operator P2
{A}
{A} POB P1
POA
Q

Operator: AP2 = AP1 + AQ

PBORG

Mapping: PBORG : POB POA (same point)

Homogeneous Transform:
2 diff. vectors
POA = POB + PBORG
Translational Operator: LM1 0 0 qx OP
M PP
0 1 0 qy A
P2 = ADQAP1
DQ
MM0 0 1 qz
PQ
N0 0 0 1

{B} P2
Q
Translations P1
{A} POB
POA

Movie Segment
PBORG

Mapping: PBORG : POB POA (same point)

2 diff. vectors
POA = POB + PBORG
Flexible Microactuator, Toshiba,
Translational Operator:
Q: P1 P2 (2 points, 2 diff vectors)
ICRA 1991 video proceedings
P2 = P1 + Q

{B} P2
Q
Translations P1
{A}
POA

Translational Operator:
Q: P1 P2 (2 points, 2 diff vectors)
P2 = P1 + Q

6
Homogeneous Transform Homogeneous Transform Interpretations
A
{B}
P
B
Description of a frame {A}
{A}
A
PBORG
P
A
BT: lBq n A
B R A
PBorg s PBORG
{B} P
A
Transform mapping {A} P B
P
A
P = ABRBP + APBORG A B A PBORG O
BT : P P B
P R
A A A
PBorg P B OA

B
P2
1 0 0 0 1 1 Transform operator {A}
P1 Q
A
P = ABT B
P T: P1 P2
(4x1) (4x4) (4x1)

General Operators Transform Equation

P2 = RK() Q P1 A {B}
BT
0 0 0 1
{A}

P2 = T P1 B
CT
{C}

Inverse Transform Transform Equation

{B}
{A}
PAORG
PBORG A {B}
BT

A L
TM
A
B R A
PBorg OP {A}

B
N0 0 0 1 Q B
CT
-1 T -1 T {C}
R =R (T = T ) B
PAORG
A
T 1
L
TM
B
A
B R T
R . PBorg
A
B
T A
OP
B A
N0 0 0 1 Q

7
Compound Transformations
{C}
D
{A} C
P A T
A
P D
B
P C T
U
A T {C}
{U}
{B}
B
A CT B
T
BT U
T
C
B B C B
A A B
P = CT P
P = BT P
A A B
D
T 1 . DC T . CB T 1 .UB T 1 .UA T I
A A B C
CT = BT CT
A
P = BT CT P
U
A T UBT . CB T . DC T 1 . DA T

Spatial Descriptions
A A B
CT = BT CT
Task Description
BAR CBR A
R BPCorg APBorg Transformations
CT
A B

0 0 0 1 Representations

Transform Equation End-Effector Configuration

A {B} {E}
BT B
CT
{A}
{C}

{B}
{D}
D
AT
C
DT
B
E T : position + orientation
A B C D
BT CT DTAT = I End-Effector Configuration Parameters

B
= BCT CDTDAT X
LM X OP P
position

AT
NX Q R
orientation

8
 Position Representations Three Angle Representations
z {A}
{A}
{B}

r
y Euler Angles
Fixed Angles
(12 sets)
(12 sets)
XA
x Cartesian: (x, y, z) {A} {A}
{B} {B}
Cylindrical: (z)
YB
YA
Spherical: (r,

Rotation Representations Euler Angles (Z-Y-X)

ZA
Rotation Matrix
Lr r12 r13 OP {B} ZB {A} ZB

R MMr
11 ZB B
YB YB R
MNr
21 r22 PP
r23 r1 r2 r3 A
B R {B} B

31 r32 r33 Q YA

YB

Lr O XA
Mr P
Direction Cosines 1 XB XB
xr
MM PP 2 ZB ZB
XB

Nr Q 3 ( 9 x1)
B
YB
YB
A
B R BA R. BB R. BB R
Constraints B R

r1 r2 r3 1 A
B R R Z ( ). RY ( ). R X ( )
r1 .r 2 r1 .r3 r 2 .r3 0 XB XB

Three Angle Representations X-Y-Z Fixed Angles

ZA
{A}
{B} {A}
{B} (yaw)

YA
(roll) (pitch)

XA
R X ( ): v R X ( ). v
RY ( ): ( R X ( ). v ) RY ( ).( R X ( ). v )
RZ ( ): ( RY ( ). R X ( ). v ) R Z ( ).( RY ( ). R X ( ). v )
A
B R BAR XYZ ( , , ) R Z ( ). RY ( ). R X ( )

9
 Fixed & Euler Angles
Z-Y-X Euler Angles
A
B R R Z ( ). RY ( ). R X ( ) X-Y-Z Fixed Angles

LMc s 0 OP LM c 0 s OP LM1 0 0 OP R XYZ ( , , ) R Z ( ). RY ( ). R X ( )

MMs c 0. 0 PP MM PP MM
1 0 . 0 c s PP
N0 0 1 sQN 0 c 0 sQN c Q Z-Y-X Euler Angles
LMc . c X XOP
A
MM
R BARZ Y X ( , , ) s . c X X P R Z Y X ( , , ) R Z ( ). RY ( ). R X ( )
c . c QP
B

N s c . s

R Z Y X ( , , ) R X YZ ( , , )

Inverse Problem
Z-Y-Z Euler Angles
Given BAR find ( , , )
A
R R Z ( ). RY ( ). R Z ( ) R Z Y X

Lr OP
B
r12 r13 LM
c . c c . s . s s . c c . s . c s . s OP
L X O R MMr
11

( , , ) MM X
X c . s
s . s PP
A
B

MNr
21 r22 PP MM
r23 s . c s . s . s c . c s . s . c c . s
N
PP
Q
A
R BARZ Y Z X r32 r33 Q s c . s c . c
NM s . c c QP
B 31
s . s
cos c r112 r212 U|
V|
A tan 2( r31 , r112 r212 )
sin s r31 W
if c Singularity of the representation

Only (or ( is defined

Singularities - Example ( R Z Y X )
Example
ZA c 0, s 1
YB {A}
F0 s( ) c( ) I ZA {A}

{B}
A
B R GG 0 c( ) s( ) JJ YB
ZB YA H 1 0 0 K ( )
YA
XB X
( ) Z
c 0, s 1
A
XA B

R Z Y X ( , , ): 0 {B} XB
F0 s( ) c( ) I
R G0 JJ
0
c( ) s( )
GH 1
A

90 o
B

0 0 K

10
Equivalent angle-axis representation, R K ( )
Lemma For all rotations one of the
{A}
L . k OP
. K M . k
X Euler Parameters is greater than
{B}

K Xr
MM Y PP or equal to 1/2
N . k Q
4
Z ( 2
i 1)
1

k x .k x .v c

RK ( ) k x .k y .v k z .s

k x .k z .v k y .s
k x .k y .v k z .s
k y .k y .v c
k y .k z .v k x .s
k x .k z .v k y .s

k y .k z .v k x .s
k z .k z .v c
Algorithm Solve with respect to m a x
i
l q i

r11 LM r12 r13 OP 1 max i l q

with v 1 c
i
R K ( ) r21
MM r22 r23
PP 1
1
r11 r22 r33 1
Nr 31 r32 r33 Q 2
r r r 1 (r21 r12 ) (r31 r13 ) (r r23 )
Ar cos( 11 22 33 ) 2 , 3 , 4 32
4 1 4 1 4 1
1 M
Lr 2
32 r23 OP
2.sin M PP
K r31 , singularity for sin 0
A
r
MNr
13

21 r12 Q

Euler Parameters l q
1 max i
i
1 W x . sin 1
2 W 1 r11 r22 r33 1

2
2 W y . sin

3 W z . sin
2
2 max
i
i l q
2
1
4 cos
2 r11 r22 r33 1
2 2

Normality Condition 3 max

i
i l q
1
W 1, 1
2
1
2
2
2
3
2
4
3 r11 r22 r33 1
2
: point on a unit hypershpere i
4 max
in four-dimensional space i
1
4 1 r1 1 r2 2 r3 3
2

Inverse Problem Given A

B R find
Euler Parameters / Euler Angles
LMr11 r12 r13 OP LM 1 2 2 2
2
2
3 2 ( 1 2 3 4 ) 2 ( 1 3 2 4 ) OP
MMr
21 r22
PP MM
r23 2( 1 2 3 4 ) 1 2 12 2 23 2 ( 2 3 1 4 ) PP 1 sin cos
Nr
31 r32 r33 Q N2 ( )
1 3 2 4 2 ( 2 3 1 4 ) 1 2 12 2 22 Q 2 2

r11 r22 r33 3 4 ( 12 22 23 ) 2 sin sin
(1 24 ) 2 2

1
4
1 r11 r22 r33 3 cos sin
2 2 2
r r r r r r
1 32 23 , 2 13 31 , 3 21 12
4 4 4 4 4 4 4 cos cos
4 0?
2 2

11
 ZA
Quiz YB
ZB
60o
YA Direction Cosines
XB
XA
LM 11 OP
MM 000 PP r 1
Euler Parameters
MM 00 PP
LM11/ 22PO M 11 // 22 P r
xr
MM 3 // 22 PP
x M
MM 0 PPP
2
00
r
MM 00 PP
MN 33/ 22PQ MM 3 / 22PP r 3
N 11//22 Q

12