ME G 511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao

Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G511
COORDINATE FRAMES AND TRANSFORMATIONS
  Consider a 2-DOF Planar Manipulator shown
above.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The joint link parameters for both the
links are
 𝒂𝟏 = 𝟎, 𝜶𝟏 = 𝟗𝟎𝟎 , 𝒅𝟏 = 𝟎 and 𝜽𝟏 = 𝜽𝟏

 𝒂𝟐 = 𝟎, 𝜶𝟏 = 𝟎𝟎 , 𝒅𝟐 = 𝒅𝟐 and 𝜽𝟏 = 𝟎 .
Displacement Variable
Link i 𝒂𝒊 𝜶𝒊 𝒅𝒊 𝜽𝒊
𝒒𝒊
1 0 𝟗𝟎𝟎 0 𝜽𝟏 𝜽𝟏
2 0 0 𝒅𝟐 0 𝒅𝟐
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 As another example consider a 3-DOF
RPP Manipulator shown below.

3-DOF RPP cylindrical manipulator arm

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Third example is RRR articulated
Manipulator.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Frame Assignment for Articulated Arm

Link Displacement
𝒂𝒊 𝜶𝒊 𝒅𝒊 𝜽𝒊
i Variable 𝒒𝒊
1 0 90 0 𝜽𝟏 𝜽𝟏
2 𝑳𝟐 0 0 𝜽𝟐 𝜽𝟐
3 𝑳𝟑 0 0 𝜽𝟑 𝜽𝟑
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
COORDINATE FRAMES, MAPPING AND TRANSFORMATIONS
 A Robot consists of several rigid links,
connected together by joints.

 The position of links in space and their motion

are described by spatial geometry.

 Also motion of each link can be described with

respect to a reference coordinate frame.

 Hence a coordinate frame is attached to the

body of each link.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Establishing a spatial relationship between the
manipulator and object that is to be manipulated
by the robot is known as modeling in robotics.
 For mathematical modeling of position and
orientation of links in space with respect to a
reference frame, Vectors and matrix algebra are
used.
COORDINATE FRAMES
 In general, in 3-D space, a coordinate frame
consists of three orthogonal right handed
principal axes 𝑿, 𝒀, 𝒁 .
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Let the origin of these principal axes be at the point ′𝐎′
and also let the unit vectors along these axes be
respectively ෝ ෝ, 𝒛ො .
𝒙, 𝒚

 A frame is labelled as
𝒙, 𝒚, 𝒛 or by a number
𝟏.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

  Other frames are labeled
similarly like 𝒖, 𝒗, 𝒘 or 𝟐
etc.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Any point ′𝑷′ in 3-D space can be defined w.r.t.
this frame by a vector 𝑶𝑷 given by

𝑶𝑷 = 𝒑𝒙 ෝ ෝ + 𝒑𝒛 𝒛ො
𝒙 + 𝒑𝒚 𝒚
 Where 𝒑𝒙 , 𝒑𝒚 & 𝒑𝒛 are the
components of the vector
𝑶𝑷 along the three
coordinate axes or the
projections of the vector 𝑶𝑷
along these axes 𝑿, 𝒀, 𝒁
respectively.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 If the point ′𝑷′ or the vector 𝑶𝑷 is described w.r.t the
frame 𝟏 , then the notation used to denote this vector
is 𝟏𝑷 with 𝟏𝑷 has components 𝟏𝒑𝒙 , 𝟏𝒑𝒚 & 𝟏𝒑𝒛 .
 Thus the vector of the point ′𝑷′ is
 𝟏𝑷 = 𝟏𝒑𝒙 ෝ𝒙 + 𝟏𝒑𝒚 ෝ𝒚 + 𝟏𝒑𝒛 ෝ𝒛
 In matrix form, the same
vector is represented by
𝟏𝒑 𝒙
𝑻
 𝟏𝑷 = 𝟏𝒑𝒚 = 𝟏𝒑𝒙 𝟏𝒑𝒚 𝟏𝒑𝒛
𝟏𝒑 𝒛
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Here in both the notations, the leading
superscript refers to the coordinate frame
number or simply the coordinate frame.
 Direction cosines of the vector 𝟏𝑷 are

𝟏𝒑𝒙 𝟏𝒑𝒚 𝟏𝒑𝒛

 𝐜𝐨𝐬 𝜶 =  𝐜𝐨𝐬 𝜷 =  𝐜𝐨𝐬 𝜸 =
𝑳 𝑳 𝑳

 Where
𝟐 𝟐 𝟐
 𝑳 = 𝑶𝑷 = 𝑷 = 𝟏𝒑𝒙 + 𝟏𝒑𝒚 + 𝟏𝒑𝒛

𝑻
 Transpose of the matrix 𝑷 is 𝑷
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 MAPPING

 Changing the description of a point or a vector

in space from one coordinate frame to another is
known as Mapping.

 Description of second frame 𝟐 in relation to

the first frame 𝟏 has three possibilities.

 First possibility is only rotation of second frame is w.r.t.

first frame with their origins initially coincident.

 This is referred to as changing the orientation in

Robotics.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 In second case, second frame is translated
away from the first frame without any translation,
with the axes of both the frames remaining
parallel.
 This is known translation of the origin of the
second frame from the origin of the first frame.
 In the third case, second frame is first rotated w.r.t the
first frame and then moved away from it.

 Another alternative is second frame is first translated,

then its orientation is also changed.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 That is in both of these cases second frame is
translated as well as its orientation is also
changed.
 However, modeling only
changes the description
of the point in space and
not the location of the
point in space.

 𝟏𝑷 = 𝟏𝒑𝒙 ෝ𝒙 + 𝟏𝒑𝒚 ෝ𝒚 + 𝟏𝒑𝒛 ෝ𝒛

 𝟐𝑷 = 𝟐𝒑𝒖 ෝ𝒖 + 𝟐𝒑𝒗 ෝ𝒗 + 𝟐𝒑𝒘 ෞ

𝒘
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
MAPPING BETWEEN ROTATED FRAMES

 Consider two frames, frame {𝟏} with axes

𝑿, 𝒀, 𝒁 and frame {𝟐} with axes 𝑼, 𝑽, 𝑾 with
common origin {𝑶} as shown in figure.
𝑾

𝒖 𝑽

𝑼
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 In this arrangement, second
frame is rotated w.r.t. the first
frame and then moved away from
it.
 A point 𝑷 in space can be
described by the two frames
𝟏 & {𝟐} and can be expressed as
vectors 𝟏𝑷 and 𝟐𝑷 given by
 𝟏𝑷 = 𝟏𝑷𝒙 ෝ ෝ + 𝟏𝑷𝒛 𝒛ො …. (1)
𝒙 + 𝟏𝑷𝒚 𝒚
 𝟐𝑷 = 𝟐𝑷𝒖 𝒖
ෝ + 𝟐𝑷𝒗 𝒗 ෝ ….(2)
ෝ + 𝟐𝑷𝒘 𝒘
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Where 𝑷𝒖 , 𝑷𝒗 & 𝑷𝒘
are projections of
point 𝑷 on the
frame {𝟐} or
𝒖, 𝒗, 𝒘
 Because the point is
same, its two
descriptions given
by 𝟏 & 𝟐 are
related.

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟐𝑷 = 𝟐𝑷𝒖 𝒖
ෝ + 𝟐𝑷𝒗 𝒗 ෝ ….(2)
ෝ + 𝟐𝑷𝒘 𝒘
 To deduce this relation let us consider that, knowing
the description of point 𝑷 in frame {𝟐}, it is desired to
find its description in frame {𝟏}.
 This can be done by
projecting the vector 𝟐𝑷 on
to the coordinate axes of
frame {𝟏}.
 Projections of 𝟐𝑷 on
frame {𝟏} are obtained by
taking the dot product of
𝟐𝑷 with the unit vectors
of frame {𝟏}.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Thus we get

 𝟏𝑷𝒙 = ෝ
𝒙. 𝟐𝑷 = ෝ ෝ+ෝ
𝒙. 𝟐𝑷𝒖 𝒖 ෝ+ෝ
𝒙. 𝟐𝑷𝒗 𝒗 ෝ
𝒙. 𝟐𝑷𝒘 𝒘

𝟐𝑷𝒖
 𝟏𝑷𝒙 = ෝ ෝ
𝒙. 𝒖 ෝ ෝ ෝ
𝒙. 𝒗 ෝ 𝟐𝑷𝒗
𝒙. 𝒘
𝟐𝑷𝒘
 𝟏𝑷𝒚 = 𝒚
ෝ . 𝟐𝑷 = 𝒚
ෝ. 𝟐𝑷𝒖 𝒖
ෝ+𝒚
ෝ. 𝟐𝑷𝒗 𝒗
ෝ+𝒚
ෝ. 𝟐𝑷𝒘 𝒘
ෝ
𝟐𝑷𝒖
 𝟏𝑷𝒚 ෝ. 𝒖
= 𝒚 ෝ 𝒚
ෝ. 𝒗
ෝ 𝒚 ෝ 𝟐𝑷𝒗
ෝ. 𝒘
𝟐𝑷𝒘

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟐𝑷 𝒖 𝟐𝑷 𝒖
𝟏 𝑷𝒙 = ෝ ෝ ෝ
𝒙. 𝒖 ෝ ෝ
𝒙. 𝒗 ෝ 𝟐𝑷 𝒗
𝒙. 𝒘 𝟏𝑷 𝒚 ෝ. 𝒖
= 𝒚 ෝ 𝒚
ෝ. 𝒗
ෝ 𝒚 ෝ 𝟐𝑷 𝒗
ෝ. 𝒘
𝟐𝑷 𝒘 𝟐𝑷 𝒘

 𝟏𝑷𝒛 = 𝒛ො . 𝟐𝑷 = 𝒛ො . 𝟐𝑷𝒖 𝒖
ෝ + 𝒛ො . 𝟐𝑷𝒗 𝒗
ෝ + 𝒛ො . 𝟐𝑷𝒘 𝒘
ෝ
𝟐𝑷𝒖
 𝟏𝑷𝒛 = 𝒛ො . 𝒖
ෝ 𝒛ො . 𝒗 ෝ 𝟐𝑷𝒗
ෝ 𝒛ො . 𝒘
𝟐𝑷𝒘
 In matrix form it may be written as
𝟏𝑷𝒙 ෝ
𝒙. 𝒖 ෝ ෝ
𝒙. 𝒗 ෝ ෝ
𝒙. 𝒘 ෝ 𝟐𝑷𝒖
 𝟏𝑷𝒚 = 𝒚 ෝ. 𝒖 ෝ 𝒚
ෝ. 𝒗 ෝ 𝒚
ෝ. 𝒘 ෝ 𝟐𝑷𝒗
𝟏𝑷𝒛 ෝ 𝒛ො . 𝒗
𝒛ො . 𝒖 ෝ 𝟐𝑷𝒘
ෝ 𝒛ො . 𝒘

 In short  𝟏𝑷 = 𝟏𝑹𝟐 𝟐𝑷
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏𝑷 𝒙 ෝ
𝒙. 𝒖 ෝ ෝ
𝒙. 𝒗 ෝ 𝒙
ෝ. 𝒘 ෝ 𝟐𝑷 𝒖
𝟏𝑷 𝒚 = 𝒚
ෝ. 𝒖 ෝ ෝ. 𝒗
𝒚 ෝ 𝒚
ෝ. 𝒘 ෝ . 𝟐𝑷 𝒗
𝟏𝑷 𝒛 ෝ
𝒛ො . 𝒖 ෝ 𝒛ො . 𝒘
𝒛ො . 𝒗 ෝ 𝟐𝑷 𝒘

 𝟏𝑷 = 𝟏𝑹𝟐 𝟐𝑷

ෝ
𝒙. 𝒖 ෝ ෝ
𝒙. 𝒗 ෝ ෝ
𝒙. 𝒘 ෝ
 Where 𝟏𝑹𝟐 = 𝒚
ෝ. 𝒖 ෝ 𝒚
ෝ. 𝒗 ෝ 𝒚
ෝ. 𝒘 ෝ
ෝ 𝒛ො . 𝒗
𝒛ො . 𝒖 ෝ 𝒛ො . 𝒘
ෝ
 Because frames {𝟏} and {𝟐} have the same
origin, they can only be rotated with respect to
each other.

 Hence this matrix 𝟏𝑹𝟐 or simply 𝑹 is called rotation

matrix or rotational transformation matrix.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 It contains only dot product of unit vectors and is
independent of point 𝑷.
 Thus rotation matrix 𝑹 = 𝟏𝑹𝟐 is used to transform the
coordinates of any point 𝑷 in frame {𝟐} to frame {𝟏}
when the two frames are rotated.

 Similarly the rotation matrix 𝟐𝑹𝟏 which

transforms from frame {𝟏} to frame {𝟐} is given
by

 Projections of 𝟏𝑷 on frame {𝟐} and are obtained

by taking the dot product of 𝟏𝑷 with the unit
vectors of frame {𝟐}.
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
  Thus we get

 𝟐𝑷𝒖 = 𝒖
ෝ . 𝟏𝑷 = 𝒖
ෝ . 𝟏𝑷𝒙 ෝ ෝ . 𝟏𝑷𝒚 𝒚
𝒙+𝒖 ෝ+𝒖
ෝ . 𝟏𝑷𝒛 𝒛ො

𝟏𝑷𝒙 𝟏𝑷𝒙
 𝟐𝑷𝒖 ෝ. ෝ
= 𝒖 ෝ. 𝒚
𝒙 𝒖 ෝ . 𝒛ො 𝟏𝑷𝒚 = 𝒙
ෝ 𝒖 ෝ. 𝒖
ෝ 𝒚
ෝ. 𝒖 ෝ 𝟏𝑷𝒚
ෝ 𝒛ො . 𝒖
𝟏𝑷𝒛 𝟏𝑷𝒛

 𝟐𝑷𝒗 = 𝒗
ෝ . 𝟏𝑷 = 𝒗
ෝ. 𝟏𝑷𝒙 ෝ ෝ. 𝟏𝑷𝒚 𝒚
𝒙+𝒗 ෝ+𝒗
ෝ. 𝟏𝑷𝒛 𝒛ො

𝟏𝑷𝒙 𝟏𝑷𝒙
 𝟐𝑷𝒗 ෝ. 𝒙
= 𝒗 ෝ 𝒗
ෝ. 𝒚 ෝ. 𝒛ො 𝟏𝑷𝒚 = 𝒙
ෝ 𝒗 ෝ. 𝒗
ෝ 𝒚
ෝ. 𝒗 ෝ 𝟏𝑷𝒚
ෝ 𝒛ො . 𝒗
𝟏𝑷𝒛 𝟏𝑷𝒛
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏𝑷𝒙 𝟏𝑷𝒙
ෝ. ෝ
𝟐𝑷𝒖 = 𝒖 ෝ. 𝒚
𝒙 𝒖 ෝ ෝ . 𝒛ො 𝟏𝑷𝒚 = ෝ
𝒖 ෝ 𝒚
𝒙. 𝒖 ෝ. 𝒖 ෝ 𝟏𝑷𝒚
ෝ 𝒛ො . 𝒖
𝟏𝑷𝒛 𝟏𝑷𝒛
𝟏𝑷𝒙 𝟏𝑷𝒙
ෝ. ෝ
𝟐𝑷𝒗 = 𝒗 𝒙 ෝ. 𝒚
𝒗 ෝ . 𝒛ො 𝟏𝑷𝒚 = 𝒙
ෝ 𝒗 ෝ. 𝒗
ෝ ෝ. 𝒗
𝒚 ෝ ෝ 𝟏𝑷𝒚
𝒛ො . 𝒗
𝟏𝑷𝒛 𝟏𝑷𝒛

 𝟐𝑷𝒘 = 𝒘. ෝ 𝟏𝑷𝒙 ෝ
ෝ 𝟏𝑷 = 𝒘. ෝ + 𝒘.
ෝ 𝟏𝑷𝒚 𝒚
𝒙 + 𝒘. ෝ 𝟏𝑷𝒛 𝒛ො
𝟏𝑷𝒙 𝟏𝑷𝒙
 𝟐𝑷𝒗 = 𝒘.
ෝ 𝒙ෝ ෝ 𝒚
𝒘. ෝ ෝ 𝒛ො 𝟏𝑷𝒚 = 𝒙
𝒘. ෝ. 𝒘
ෝ ෝ. 𝒘
𝒚 ෝ ෝ 𝟏𝑷𝒚
𝒛ො . 𝒘
𝟏𝑷𝒛 𝟏𝑷𝒛
 In matrix form it may be written as
𝟐𝑷𝒖 ෝ. 𝒙
𝒖 ෝ 𝒖
ෝ. 𝒚
ෝ ෝ . 𝒛ො
𝒖 𝟏𝑷𝒙 ෝ. 𝒖
𝒙 ෝ 𝒚
ෝ. 𝒖
ෝ ෝ
𝒛ො . 𝒖 𝟏𝑷𝒙
 𝟐𝑷𝒗 = 𝒗
ෝ. 𝒙
ෝ 𝒗
ෝ. 𝒚
ෝ ෝ. 𝒛ො
𝒗 𝟏𝑷𝒚 = 𝒙
ෝ. 𝒗
ෝ 𝒚
ෝ. 𝒗
ෝ ෝ
𝒛ො . 𝒗 𝟏𝑷𝒚
𝟐𝑷𝒘 ෝ 𝒙
𝒘. ෝ 𝒘.
ෝ 𝒚ෝ ෝ 𝒛ො
𝒘. 𝟏𝑷𝒛 ෝ. 𝒘
𝒙 ෝ. 𝒘
ෝ 𝒚 ෝ 𝒛ො . 𝒘ෝ 𝟏𝑷𝒛

 In short  𝟐𝑷 = 𝟐𝑹𝟏 𝟏𝑷
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
  That is 𝟐𝑷 = 𝟐𝑹𝟏 𝟏𝑷

 From matrices for 𝟏𝑹𝟐 and 𝟐𝑹𝟏 below, it is obvious that

𝑻
𝟐𝑹𝟏 = 𝟏𝑹𝟐 , as dot product of vectors is
commutative.
ෝ. 𝒖
𝒙 ෝ ෝ. 𝒗
𝒙 ෝ ෝ. 𝒘
𝒙 ෝ ෝ. 𝒙
𝒖 ෝ ෝ. 𝒚
𝒖 ෝ ෝ . 𝒛ො
𝒖
 𝟏 𝑹𝟐 = 𝒚
ෝ. 𝒖 ෝ ෝ. 𝒗
𝒚 ෝ ෝ. 𝒘
𝒚 ෝ  𝟐𝑹𝟏 ෝ. 𝒙
= 𝒗 ෝ ෝ. 𝒚
𝒗 ෝ ෝ. 𝒛ො
𝒗
ෝ
𝒛ො . 𝒖 ෝ
𝒛ො . 𝒗 𝒛ො . 𝒘
ෝ 𝒘.
ෝ 𝒙ෝ 𝒘.
ෝ 𝒚ෝ 𝒘.
ෝ 𝒛ො

ෝ. 𝒖
𝒙 ෝ ෝ. 𝒖
𝒚 ෝ 𝒛ො . 𝒖
ෝ
𝑻
 𝟐 𝑹𝟏 ෝ. 𝒗
= 𝒙 ෝ ෝ. 𝒗
𝒚 ෝ 𝒛ො . 𝒗
ෝ = 𝟏 𝑹𝟐
ෝ. 𝒘
𝒙 ෝ ෝ. 𝒘
𝒚 ෝ 𝒛ො . 𝒘
ෝ
𝑻
 Hence we can write 𝟐𝑷 = 𝟐𝑹𝟏 𝟏𝑷 = 𝟏𝑹𝟐 𝟏𝑷
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑻 𝑻
𝟐 𝑷 = 𝟐 𝑹 𝟏 𝟏 𝑷 = 𝟏 𝑹𝟐 𝟏 𝑷  𝟐 𝑹𝟏 = 𝟏 𝑹𝟐

 Also from the equation 𝟏𝑷 = 𝟏𝑹𝟐 𝟐𝑷 we can write

−𝟏 −𝟏
 𝟏𝑹𝟐 𝟏𝑷 = 𝟏𝑹𝟐 𝟏𝑹𝟐 𝟐𝑷
−𝟏
 𝟏𝑹𝟐 𝟏𝑷 = 𝑰 𝟐𝑷
−𝟏
 Or 𝟏𝑹𝟐 𝟏𝑷 = 𝟐𝑷
−𝟏
That is 𝟐𝑷 = 𝟏𝑹𝟐 𝟏𝑷
𝑻
 Also 𝟐𝑷 = 𝟏𝑹𝟐 𝟏𝑷

Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 −𝟏 𝑻
𝟐𝑷 = 𝟏𝑹𝟐 𝟏𝑷 𝟐𝑷 = 𝟏𝑹𝟐 𝟏𝑷

 Hence we can write

−𝟏 𝑻
𝟏𝑹𝟐 = 𝟏𝑹𝟐

 In general for any rotational matrix 𝑹

−𝟏 𝑻
 𝑹 = 𝑹 and

−𝟏 𝑻
 𝑹 𝑹 = 𝑹 𝑹 = 𝑰
THANK YOU
Lecture 6 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus