Coordinate

frames, Mapping
and Transforms
19EEE354 Introduction to Robotics
Introduction
• Robotic manipulator consists of links connected with joints
• This enables them to achieve required motion in space and perform task
• Modelling of robot: Special relation – manipulator and manipulated object
• Position of links in space and their motion → Spatial geometry
• Vector and matrix algebra → Mathematical modelling of position and
orientation of links in space
• Motion of each link – described with respect to reference coordinate frame
• Coordinate frame can be attached to each link

2
Coordinate Frames
• Based on Cartesian coordinates
• Principal axis with origin O
• Unit vectors: 𝑥ො , 𝑦ො , 𝑧Ƹ
• Frame: {xyz} or {1}
• Point P is represented by vector: 𝑂𝑃
• Components of vectors on 3 coordinates
• Frame space notation with respect to
frame {1}
• Vector-matrix notation

3
Coordinate Frames

4
Mapping
• Mapping refers to change in
description of a point (or vector) in
space from one frame to another
frame
• Second frame has three possibilities in
relation to first frame
I. Second frame is rotated with
respect to the first; the origin of
both the frames is same. In
robotics, this is referred as changing
the orientation.

5
Mapping
• Mapping refers to change in
description of a point (or vector) in
space from one frame to another
frame
• Second frame has three possibilities in
relation to first frame
II. Second frame is moved away from
the first, the axes of both frames
remain parallel, respectively. This is
a translation of the origin of the
second frame from the first frame
in space.

6
Mapping
• Mapping refers to change in
description of a point (or vector) in
space from one frame to another
frame
• Second frame has three possibilities in
relation to first frame
III. Second frame is rotated with
respect to the first and moved away
from it, that is, the second frame is
translated, and its orientation is
also changed.

7
Mapping
• Mapping refers to change in description of a point (or vector) in space from one
frame to another frame
• Second frame has three possibilities in relation to first frame
I. Second frame is rotated with respect to the first; the origin of both the
frames is same. In robotics, this is referred as changing the orientation.
II. Second frame is moved away from the first, the axes of both frames remain
parallel, respectively. This is a translation of the origin of the second frame
from the first frame in space.
III. Second frame is rotated with respect to the first and moved away from it,
that is, the second frame is translated, and its orientation is also changed.

8
Mapping between Rotated Frames

9
Mapping between Rotated Frames
The description of point P in frame {2} is known and its
description in frame {1} is to be found (or vice versa)

• Vector 2P is projected onto the coordinates of

frame {1}
• Projections on frame {1} → dot product of 2P with
the unit vectors of frame {1}

10
Rotation Matrix / Rotation Transformation Matrix
Coordinates of any point P in frame {2} can be transformed to
coordinates in frame {1}

Coordinates of any point P in frame {1} can be transformed to

coordinates in frame {2}

Vector dot product is commutative

2P can be expressed as

∀ Rotation Matrix R
11
Mapping between Translated Frames

Z W

Y dy V

X U

12
Mapping between Translated Frames

Z W

Y dy V

X U
dx

13
Mapping between Translated Frames

Z
dz

Y W dy

dx
X
V

14
Mapping between Translated Frames

15
Mapping between Translated Frames

16
Mapping between Translated Frames

Translation of origin of frame {2}

with respect to frame {1}

17
Mapping between Translated Frames

18
Translation Matrix
• Translation and rotation are
different
• Origins are same in rotation
• Allows representation as 3x3 R matrix
• Origins are different in translation
• Representation: 3x1 vector – 1D2
• Translation: 4D space of
homogeneous coordinates
• 𝜎 non zero positive scalar factor
• Physical coordinates are obtained
by dividing each homogenous
component by 𝜎
19
Translation Matrix

20
Mapping between Rotated and Translated frames
• Consider frame {1} and frame {2}
• Frame {2} is rotated and
translated with respect to frame
{1}
• Distance between origins:

• A point P is referred to frame{2}

as 2P
• How to represent the same point
P with reference to frame{1}? 1P?

21
Mapping between Rotated and Translated frames
• Consider a frame {1’}
• Frame{1’} , frame{2} → same origin
• Frame{1’} is rotated such that →
axes are parallel to frame{1}
• Rotation matrix: frame{1’} <->
frame{2}

22
4x4 Homogenous Transformation Matrix

23
Description of Object in Space

Self Study

24
Rotation of Vectors

25
Rotation of Vectors

No subscript or super script because P, Q

lie within frame {1}

26
Rotation of Vectors

27
Rotation of Vectors

Vector rotation can also be interpreted as

frame rotation in opposite direction
28
Translation of Vectors

29
Translation of Vectors

30
Translation of Vectors

31
Translation of Vectors

32
Combined Rotation and Translation of Vectors

• Consider a vector 1P in frame {1}

1P → rotation of ϴ about K axis → translation of 1D → 2P

• If T → rotation R(ϴ) & Translation 1D

2P = T 1P

33
Composite Transformation
• 3 frames: {1}, {2}, {3}
• nth frame rotated and translated from
n-1th frame
• 3P to 1P ?

34
Inverting a Homogenous Transform
• iTj  jTi
• Find the inverse of transformation matrix

35
Principal Axes Rotation
Frame{2} is rotated by an angle of ϴ about z-axis of frame{1}

36
Principal Axes Rotation

37
Principal Axes Rotation
Principal axes rotation using Homogenous Transformation Matrix

Fundamental rotation matrix can be multiplied to represent sequence of rotations

Matrix computation not commutative

Different rotation sequence →
Different result

38
Rotation of Frames

39
Rotation of Frames

40
Fixed Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

41
Fixed Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

42
Fixed Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

XYZ - Fixed Angle Rotation

43
Fixed Angle Representation

RPY transformation

44
Euler Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

45
Euler Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

46
Euler Angle Representation
Frame{1} – {xyz} → Fixed Frame
Frame{2} – {uvw} → Moving Frame

47
Euler Angle Representation

48
Equivalent Axis Representation
• A coordinate frame can be rotated about an arbitrary axis k passing through the origin of
fixed reference frame {1}
• The rotation matrix for this case is obtained by viewing the rotation as a sequence of
rotations of frame {2} (along with k-axis) about the principal axes of frame {1}
• Consider frame {2}, initially coincident with frame {1}
• Frame {2} is rotated by an angle ϴ about k-axis, in frame {1}
• The rotation of frame {2} is decomposed into rotations about the principal axes of frame {1}

49
Equivalent Axis Representation
Clockwise rotation → Negative
Anti-clockwise rotation → Positive

Rotation of frame{2} about k axis can be decomposed

into rotations about principal axis of frame{1}
Vector P, axis-k, frame{2} → rotated by –α about z axis
k axis lies on xz plane

Vector P, axis-k, frame{2} → rotated by β about y axis

k axis lies along x axis

Vector P, axis-k, frame{2} → rotated by ϴ about k axis

that lies along x axis

50
Equivalent Axis Representation
Vector P is rotated by –β about y axis
Vector P is rotated by α about z axis
This brings k axis to its original position

51
Equivalent Axis Representation

52
Equivalent Axis Representation

Using this arbitrary rotation about k axis, Principal axis rotation matrix can also be derived

53