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Lecture 2 - Kamal - Spatial Transformation

The document discusses spatial transformations between frames, including general transformations involving translation and rotation, special cases of pure translation and pure rotation, and examples of transforming vectors between frames. It also covers compound transformations between three frames.

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Omar Mohammed Ibrahim
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
22 views

Lecture 2 - Kamal - Spatial Transformation

The document discusses spatial transformations between frames, including general transformations involving translation and rotation, special cases of pure translation and pure rotation, and examples of transforming vectors between frames. It also covers compound transformations between three frames.

Uploaded by

Omar Mohammed Ibrahim
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MEC 403 - Robotics 2

Lecture 2
Spatial Transformation – A Review

Transformation (Mapping) Involving Two Frames

 Given Frame A

 Given Frame B which is


translated relative to A
by the vector 𝐴𝑃𝐵𝑜𝑟𝑔
and rotated by the
rotation matrix 𝐵𝐴𝑅.

 Given Vector 𝐵𝑃 in
Frame B

 Required to represent Vector 𝐵𝑃 relative to Frame A,


i.e, determine 𝐴𝑃 =?

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1
Transformation (Mapping) Involving Two Frames
Transformation Conceptual Form
The transformation equation

can be rewritten in the conceptual form as

Matrix T is called the


Homogeneous
Conceptual Form: Transform Matix

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Transformation (Mapping) Involving Two Frames


Transformation Inversion
Given the homogenous matrix:

Its inversion is given by:

𝐴 𝑇
Not that: 𝐵𝑅 = 𝐵𝐴𝑅−1

𝐴
Exercise: Prove that: 𝐵𝑇 × 𝐵𝐴𝑇 −1 = 𝐼

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2
Transformation (Mapping) Involving Two Frames
Two Special Cases

 Special Case 1: Frame B is only translated relative to Frame A

 Special Case 2: Frame B is only rotated relative to Frame A

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Transformation (Mapping) Involving Two Frames


Example 1:
The figure shows a frame {B} that is rotated relative to
frame {A} about Zˆ by 30 degrees. Here, Zˆ is pointing
out of the page. Given 𝐵𝑃 = [ 0 2 0 ]T . Find 𝐴𝑃 ?

0
𝐵
Solution: 𝑃= 2 30
0

This is special case 2 – Pure rotation:

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3
Transformation (Mapping) Involving Two Frames
Example 2:
The figure shows a frame {B}, which is rotated relative to
frame {A} about axis ZA by 30 degrees, translated 10 units
in 𝑋𝐴 and translated 5 units in 𝑌𝐴 . Find 𝐴𝑃, where 𝐵𝑃 = [ 3 30
7 0 ]T
Solution: 10
5

This is the general case – Translation and rotation:

10
𝐴
𝑃𝐵𝑂𝑅𝐺 = 5
0

9.098
𝐴
𝑃 = 12.562
0

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Transformation Three Frames (Compound Mapping)

Vector P is given in C. Find the


representation of P relative to B and A.

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4
Transformation Three Frames (Compound Mapping)
Example 3: YB and ZC perpendicular to Plane of XB, YC, ZB
30
With reference to the shown figure, 30

determine the transformation matrix 𝐵𝐶 𝑇.


30

Solution:

Answer

HW Problem: Determine the transformation matrix 𝐴𝐶 𝑇.


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End of Lecture 2

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