Homogeneous Transformation

Representation Chapter 2 of a Point in

RobotSpace
Kinematics: Position Analysis

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P = ax i + by j + cz k

Fig. 1 Representation of a point in space

Representation of
Chapter 2 a Vector in
Robot Space
Kinematics: Position Analysis

A Vector P in space :
3 coordinates of its tail and of its head

__ ^ ^ ^
P = a x i + by j + c z k
x
__  y
P= 
z
 
 w
Fig. 2 Representation of a vector in space
Representation of a
Chapter 2 Frame at the
Origin of aRobot
Fixed-Reference
Kinematics: Position Analysis Frame

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

 nx ox a x 
F = n y o y a y 
 nz oz a z 

Fig. 3 Representation of a frame at the origin of the reference frame

Representation of
Chapter 2 a Frame in a
Fixed Reference
Robot Kinematics: PositionFrame
Analysis

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

The
same as
last slide

 nx ox ax Px 
n oy ay Py 
F=  y

 nz oz az Pz 
 
0 0 0 1

Fig. 4 Representation of a frame in a frame

 Homogeneous Coordinates
• Homogeneous coordinates: embed 3D
vectors into 4D by adding a “1”
• More generally, the transformation matrix T
has the form:
 Rot. Matrix Trans. Vector 
T = 
 Perspect. Trans. Scaling Factor 
a11 a12 a13 b1
a21 a22 a23 b2
a31 a32 a33 b3
c1 c2 c3 sf
Representation of a2Rigid Body
Chapter
Robot Kinematics: Position Analysis

An object can be represented in space by attaching a frame

to it and representing the frame in space.

 nx ox ax Px 
n oy ay Py 
Fobject =  y

 nz oz az Pz 
 
0 0 0 1

Fig. 5 Representation of an object in space

 HOMOGENEOUS
Chapter 2
TRANSFORMATION MATRICES
Robot Kinematics: Position Analysis

A transformation matrices must be in square form.

• It is much easier to calculate the inverse of square

matrices.

• To multiply two matrices, their dimensions must match.

 nx ox ax Px 
n oy ay Py 
F=  y

 nz oz az Pz 
 
0 0 0 1
Representation of
Transformations of
rigid objects
in 3D space
 RepresentationChapter 2 of a Pure
Translation
Robot Kinematics: Position Analysis

A transformation is defined as making a movement in space.

• A pure translation.
• A pure rotation about an axis.
• A combination of translation or rotations.

Same
value a
identity

1 0 0 dx 
0 1 0 d y 
T =
0 0 1 dz 
 
0 0 0 1
Fig. 6 Representation of an pure translation in space
 Basic Rotation Matrix
– Rotation about x-axis with
1 0 0  z

Rot ( x, ) = 0 C − S 

w
P
v
0 S C 
 px   pu  
 p  = R ( x,  )  p  u
y
 y  v x
 p z   pw 
p x = pu
p y = pv cos  − pw sin 
p z = pv sin  + pw cos 
 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 
Ry , = 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
Properties of Rotation Matrix

Orthogonality property
Find the missing elements in F.

 0.433 b 0.75 2 
 0.25 0.866 c 4 
F = 
 a 0 0.5 5 
 
 0 0 0 1 
 Inverse of the transformation matrix
 nx ox ax Px 
n oy ay Py 
T = y
 nz oz az Pz 
 
0 0 0 1

 nx ny nz − P.n   nx ny nz −( Px nx + Py n y + Pz nz ) 
  
 ox oy oz − P.o   ox oy oz −( Px ox + Py o y + Pz oz ) 
T −1 = =
 ax ay az − P. a   a x ay az −( Px ax + Py a y + Pz az ) 
   
 0 0 0 1   0 0 0 1 
2. Calculate the inverse of the following
transformation matrix.

 0.5 0 0.866 3 
0.866 0 −0.5 2 
T =
 0 1 0 5
 
 0 0 0 1

 0.5 0.866 0 −(3*0.5 + 2*0.866 + 5*0) 

 0 0 1 − (3*0 + 2*0 + 5*1) 
T −1 = 
0.866 −0.5 0 −(3*0.866 + 2*( −0.5) + 5*0) 
 
 0 0 0 1 

 0.5 0.866 0 −3.232 

 0 0 1 − 5 
T −1 = 
0.866 −0.5 0 −1.5998
 
 0 0 0 1 
• A point Puvw=(4,3,2)T is attached to a frame (n,o,a). The frame
rotates 60 degree about the Z 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 
The following frame F has been moved nine units along the
x-axis and five units long the z-axis of the reference frame.
Fin the new location of the frame.
 0.527 −0.574 0.628 5
 0.369 0.819 0.439 3
F= 
 −0.766 0 0.643 8 
 
 0 0 0 1

1 0 0 9
0 1 0 0 
T =
Transformation matrix 0 0 1 5
 
0 0 0 1

Fnew=T.Fold
1 0 0 9   0.527 −0.574 0.628 5  0.527 −0.574 0.628 14 
0 1 0 0   0.369 0.819 0.439 3  0.369 0.819 0.439 3 
Fnew = =
0 0 1 5   −0.766 0 0.643 8   −0.766 0 0.643 13
    
0 0 0 1  0 0 0 1  0 0 0 1
1. Calculate the matrix representing Rot(x,45 0)-1

Rot −1 ( x, 450 ) = Rot T ( x, 450 )

1 0 0 
Rot ( x, 450 ) = 0 0.707 −0.707 
0 0.707 0.707 

1 0 0 
Rot −1 ( x, 450 ) = 0 0.707 0.707 
0 −0.707 0.707 
A point P(7,3,2)T is attached to a frame (n,o,a) and is
subjected to the following transformations.

i. Rotation of 900 about the z-axis

ii. Rotation of 900 about the y-axis
iii. Translation of [4,-3,7]

Find the coordinates of the point relative to the reference

frame at the end of the transformations.

Pnew = Tran(4, −3, 7) Rot(y,900 ) Rot(z,900 ) Pold

1 0 0 4   C (90) 0 S (90) 0  C (90) − S (90) 0 0  7 

0 1 0 −3  0 1 0 0   S (90) C (90) 0 0   3 
Pnew =
0 0 1 7   − S (90) 0 C (90) 0  0 0 1 0 2
    
0 0 0 1  0 0 0 1  0 0 0 1  1 
Solution:

• Coordinates of the new point

6
4
 
10 
 
1
A point P(7,3,2)T is attached to a frame (n,o,a) and is
subjected to the same transformations as previous one but
in different order as given below.

i. Rotation of 900 about the z-axis

ii. Translation of [4,-3,7]
iii. Rotation of 900 about the y-axis

Find the coordinates of the point relative to the reference

frame at the end of the transformations.

Pnew = Rot(y,900 )Tran(4, −3, 7) Rot(z,900 ) Pold

 C (90) 0 S (90) 0  1 0 0 4  C (90) − S (90) 0 0  7 

 0 1 0 0  0 1 0 −3  S (90) C (90) 0 0   3 
Pnew =
 − S (90) 0 C (90) 0  0 0 1 7  0 0 1 0 2
    
 0 0 0 1  0 0 0 1  0 0 0 1  1 
Solution:

• Coordinates of the new point

9
4
 
 −1
 
1

Inference: The order is important

 Transformation about rotating frame
A point P(7,3,2)T is attached to a frame (n,o,a) and is subjected
to the following transformations.
i. Rotation of 900 about the o-axis
ii. Rotation of 900 about the a-axis
iii. Translation of 3 units along n-axis
Find the coordinates of the point relative to the reference frame
at the end of the transformations.

Pnew = Rot(o,900 ) Rot(a,900 )Tran(3, 0, 0) Pold

 C (90) 0 S (90) 0  C (90) − S (90) 0 0  1 0 0 3  7 

 0 1 0 0   S (90) C (90) 0 0  0 1 0 0   3 
Pnew =
 − S (90) 0 C (90) 0  0 0 1 0  0 0 1 0 2
    
 0 0 0 1  0 0 0 1  0 0 0 1  1 

2
10 
Pnew = 
3
 
1
 Transformation about both fixed and moving axes

• A frame B was rotated about the x-axis 900; it

was then translated about the current a-axis 3
units before being rotated about the z axis by
900. Finally, it was translated by o-axis 5 units.

(a) write the equation describing the motions

(b) Find the final location of a point P(1,5,4)
attached to the frame relative to the reference
frame.
T=Rot(z,90)Rot(x,90)Trans(0,0,3)Trans(0,5,0)
Solution:
• T=Rot(z,90)Rot(x,90)Trans(0,0,3)Trans(0,5,0)

7
Pnew =  1 
10 
 Properties of Rotation Matrix

• The rotational matrix is a orthogonal matrix and

its determinant is equal to 1.

• Rotation matrix is always invertible.

Determine the new locations of the frame P=[2 3 1]T for the
following transformations and comment on the results.

(i) Rot(X,-900)

(ii) Rot-1(X,900)

Solution: Pnew=[2 1 -3]T

Similarly,
Multiplication of two Transformation Matrices
Consecutive transformations
Consecutive transformations about the same axis