Fundamental Rotations ECTE471/871

MECH950
Lecture Outline

By the end of this lecture, you will be able to:

the three dimensional position and orientation of a robotic

Describe arm

Perform composite rotations and transformations.

the position and orientation of a robotic arm using

Define homogeneous transformations.

2
 A Robotic Manipulator
• A robotic manipulator can
be modelled as a chain of
rigid bodies called links.
• The links are
interconnected to one Link
another by joints.
• One end of the chain of
links is fixed to a base, Joint
Tool
while the other end is free
to move. or
End-effector
• The mobile end has a
flange, or face plate, with a
tool, or end-effector,
attached to it. Base
• The joints can be Revolute or
prismatic.

3
Aim of modelling a robotic arm

• The objective is to control both the position and the

orientation of the tool in three-dimensional space.
• The tool, or end-effector, can then be programmed to
follow a planned trajectory so as to manipulate objects in
the workspace.
• In order to program the tool motion, we must first
formulate the relationship between the joint variables
and the position and the orientation of the tool.
• This is called the direct (forward) kinematics problem.

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Refresher: Vector & Matrix

n Column vector

é px ù
P = êê p y úú = [ p x , p y , p z ]T
êë p z úû
n A column vector is represented by arranging its
components in a n x1 array and enclosing them in
square brackets.
n The superscript T denotes the transpose of a vector or a
matrix.
n The transpose is obtained by interchanging the rows
with the columns.

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Refresher: Vector & Matrix

n Matrix

é r11 r12 r13 ù

R = êêr21 r22 r23 úú
êër31 r32 r33 úû

n A matrix is represented as a two-dimensional array of

scalar components.
n If A and B are two matrices, then

AB ¹ BA
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 Refresher: Dot Product

n Dot Product: The dot product of two vectors p and q in

Rn is denoted by p.q and is defined

n Where pk and qk are the projections of the vectors p and

q on axis k of the coordinate frame.
n For R3, the projections of p are
px, py and pz.

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Refresher: Dot Product-Properties

n Let {x, y, z} be vectors in Rn and let a, and b be real

scalars. The following properties hold for dot product:

1. x.x ³ 0
2. x.x = 0 Û x = 0
3. x. y = y.x
4. (ax + by ).z = a ( x.z ) + b ( y.z )

8
 Refresher: Orthogonal Vectors

n Two vectors p and q in Rn are orthogonal if and only if

p.q=0.
n Orthogonal vectors in three dimensional space can be
interpreted as perpendicular vectors.
n In the diagram shown here, the vectors ox and oy are
orthogonal.

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Refresher: Norm of a Vector

n Norm of a vector p in Rn space is defined as

n
p = ( p. p)1/ 2 = (å pk2 )1/ 2
k =1

n In R3, norm can be written as:

p = ( px2 + p y2 + pz2 )1/ 2

n Where px, py, pz are the projections of p on the three axes of

the coordinate frame.

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Refresher: Orientation
n Let p and q be arbitrary vectors in R3 and let θ be the
angle from p to q then
p.q = p q cosq
n Hence, the dot product can be interpreted as a measure
of angle between two vectors.

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Refresher: Cross Product
n The cross product of two vectors u and v is a vector
orthogonal to u and v in the right-hand sense

ìé i j k ù ü éu y v z - u z v y ù
ïê úï ê ú
w = det íêu x uy u z ú ý = êu z vx - u x vz ú , u ´ v = u v sin q
ïê v vy v z úû ïþ êëu x v y - u y v z úû
îë x

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Orthogonal Coordinates

n Let P be a vector in R3 and p1, p2, p3 be the coordinates

of p with respect to each orthogonal coordinate frame r1
to r3, then the kth coordinate of p with respect to r is:
pk=P.rk

3 p
r
p3 r 2

p1
p2
O
r1
Orthogonal coordinates

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Tool and world co-ordinate frames
For the purpose of modelling, lets consider the following
manipulator that only consists of a tool.
n P-r1r2r3 is the tool coordinate frame, an orthogonal frame.
n The vectors r3, r2 and r1 are called the approach vector, the
sliding vector and the normal vector, respectively.
n The vectors n, t, and b are the unit vectors along r1, r2 and r3.
n O-XYZ is the world coordinate frame
b
n
Z
r1
r3
P Y

r2
t
0 X
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Orientation of Tool
n The orientation of the tool can be defined in terms of
the axes of tool co-ordinate frame relative to the world
co-ordinate frame.
n Let’s assume that the tool is located as shown below.
The tool coordinate is defined in terms of the unit
vectors n, t, b, pointing in the directions of r1, r2, r3
defined relative to the world co-ordinate frame.

The orientation of
the tool is defined by
the rotation matrix:

R = [n t b]

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Rotation Matrix

n The rotation matrix R, consisting of the three unit vectors

n, t, and b, is a 3 x 3 matrix:

R = [n t b]

é nx tx bx ù Where:

R = êên y ty by úú é nx ù ét x ù ébx ù
êë nz tz bz úû n = êên y úú t = êêt y úú b = êêby úú
êë nz úû êët z úû êëbz úû

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 Fundamental Rotation Matrix about X Axis

é1 ù é 0 ù é 0 ù
ê ú ê ú ê ú b Z
n = ê0 ú , t = êcos θ ú , b = ê-sin θ ú
êë0 úû êësin θ úû êë cos θ úû θ
r3 t
r2 sinθ

cosθ Y

r1
é1 0 0 ù n
ê ú
Rx ( θ ) = ê0 cos θ -sin θ ú X
êë0 sin θ cos θ úû

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 Fundamental Rotation Matrix - Other Axes

Similarly, the fundamental rotation matrices about Y and Z

axes can be defined as:

é cosq 0 sinq ù
About Y axis: ê ú
RY (q ) = ê 0 1 0 ú
êë - sin q 0 cos q úû

écos q - sin q 0 ù
= ê ú
About Z axis: Rz (q ) êsinq cos q 0ú
êë 0 0 1 úû

Rx(q), Ry(q), and Rz(q) are known as 1st , 2nd , and 3rd fundamental rotations.

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Fundamental Rotation Matrix - Rules

For the kth fundamental rotation, Rk(q):

nThe kth row and the kth column are identical to the kth
row and the kth column of the identity matrix I.

n In the remaining 2x2 submatrix, the diagonal terms are

cos q, while the off-diagonal terms are ±sin q , where
q is the angle of rotation.

n The sign of the off-diagonal term above the diagonal is

(-1)k.

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Trigonometric Symbols representation
In mathematical models of robotic manipulators, the
trigonometric functions are represented according to the
table below:
Symbol Description
Sθ sin θ
Cθ cos θ
Sk sin θ k
Ck cos θ k
Skj sin (θ k+ θ j)
Ckj cos (θ k+ θ j)
Sk-j sin (θ k- θ j)
Ck-j cos (θ k- θ j)
atan2 (y, x) four-quadrant arctan (y/x)
Vθ 1-cos θ
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Properties of Rotation Matrix

Nine elements of a rotation matrix are not all

independent
Each vector is a unit vector

n =1 t =1 b =1
All three are mutually perpendicular

n×t = 0 t ×b = 0 b×n = 0

Determinant of a rotation matrix is always

equal to 1.
R =I

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 Properties of Rotation Matrix – cont.
é nx tx bx ù énx ny nz ù
-1 ê ú
R = RT R = êên y ty by úú RT = ê t x ty tz ú
êë nz tz bz úû êbx by bz úû
ë

énx2 + t x2 + bx2 nx n y + t xt y + bxby ...ù

ê ú
RR = ê
T
... ... ...ú =I, identity matrix
ê ... ... ...úû
ë

nx2 + t x2 + bx2 = (length of unit vecto r x) 2 = 1

nx ny + t xt y + bxby = X r × Y r = 0

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 Inverse Rotation
n Let’s assume point P is defined in the co-ordinate frame r1r2r3 by
[P]r. Then [P]x, the co-ordinate of P relative to XYZ co-ordinate
frame. If r1r2r3 is rotated about the X axis of XYZ co-ordinate frame
by angle q:
[ P]x = R[ P]r
é1 0 0 ù
R1 (q ) = êê0 Cq - Sq úú
êë0 Sq Cq úû

n At the same, time, the co-ordinate frame r1r2r3 can be rotated back
to of XYZ co-ordinate frame by rotating by angle - q about the X
axis: é1 0 0 ù
R1 (-q ) = êê0 Cq Sq úú = RT R -1 = RT
êë0 - Sq Cq úû RT (q ) = R(-q )
As a result: [ P]r = RT [ P]x

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Composite Rotations

n Assume a number of fundamental rotations are

applied on a tool frame either relative to the unit
vector of the tool frame or a reference frame.
n The rotation matrix representing the final
orientation of the tool is the product of the
individual fundamental rotations.
n We refer to multiple rotations as composite
rotations.

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Algorithm for Composite Rotations

• Initialise the rotation matrix to R=I

• If the tool frame is rotated by an amount q about
the kth (x, y, or z) unit vector of the reference
frame, then pre-multiply R by Rk(q).
• If the tool frame is to be rotated by an mount q
about its own kth unit vector then post-
multiply R by Rk(q).
• Repeat the procedure for every fundamental
rotation.

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 Yaw-Pitch-Roll Transformation (X-Y-Z Fixed Angles)

¢ Orientation Representation
— Description of Yaw, Pitch, Roll
¢ A rotation of y about the OX axis (
R x ,y)
-- yaw
¢ A rotation of q about the OY axis ( R )
y ,q
-- pitch Z roll
¢ A rotation of f about the OZ axis ( R ) f
z ,f
– roll
Y
q
yaw
y
pitch
X
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Yaw-Pitch-Roll Transformation (X-Y-Z Fixed Angles)

n Let’s assume that the tool frame is rotated about X

axis by Ψ, Y axis byq , and Z axis by Φ. Z
r3 F
n The final rotation matrix is:
r2
r1
O Y
q
RT = Rz,f R y,q Rx,y Y
X
écos f - sin f 0ù é cosq 0 sin q ù é1 0 0 ù
= êê sin f cos f 0úú êê 0 1 0 úú ê0 cosy
ê - siny úú
êë 0 0 1úû êë- sin q 0 cosq úû êë0 siny cosy úû

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Yaw-Pitch-Roll Transformation (X-Y-Z Fixed Angles)

RT = Rz,f R y,q Rx,y

écos f - sin f 0ù " Cθ Sψ Sθ Cψ Sθ %
$ '
= êê sin f cos f 0úú $ 0 Cψ −Sψ '
êë 0 $ −Sθ CψCθ '&
0 1úû # SψCθ

" Cφ Cθ Sφ Sθ Cψ − Cφ Sψ Cφ Sθ Cψ + Sφ Sψ %
$ '
= $ Cθ Sφ Sφ Sθ Sψ + Cφ Cψ Cφ Sθ Sψ − Cφ Sψ '
$ −Sθ SψCθ CψCθ '
# &

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Define Position and Orientation Together

n The translation matrix and orientation matrix can be

combined in matrix T to define the position and
orientation of the tool relative to the base coordinate
frame.
tool é R Pù
Tbase = ê ú
ë000 1 û
R P
én x tx bx px ù én x tx bx px ù
ê ú ê ú
tool = ên y ty by py ú tool = ên y ty by py ú
Tbase Tbase
ê nz tz bz pz ú ê nz tz bz pz ú
êë 0 1 úû êë 0
0 0 0 0 1 úû

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Translation Matrix and Rotation Matrix

é1 0 0 p1 ù
ê0 p2 úú
1 0 éR pù
Tran( p) = ê T =ê ú
ê0 0 1 p3 ú ë0 1û
ê ú
ë0 0 0 1û

é 0ù
ê R (f ) 0úú
Rot (f , k ) = ê k 1£ k £ 3
ê 0ú
êë0 0 0 1úû

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Homogeneous transformation -- Example
n The two co-ordinate frames M and F initially coincide.
n Point P is located at [P]M= [0 0 10]T.
n Let’s translate co-ordinate frame M by 5 units along f1
and by -3 along f2. What are the coordinates of P
relative to F after translation? f3

m3
m3
xP
x P
é1 0 0 5 ùé 0 ù é 5 ù m2
ê0 1 0 - 3úú êê 0 úú êê- 3úú
ê = m2
f2
ê0 0 1 0 ú ê10 ú ê 10 ú m1
ê ú ê ú ê úm1
ë0 0 0 1 ûë 1 û ë 1 û f1

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Composite Homogeneous Transformations

• Initialise the transformation matrix to T=I

• If the tool frame is to be rotated or translated
about the kth (x, y, or z) unit vector of the
reference frame, then pre-multiply T by the
fundamental homogeneous rotation or
translation matrix.
• If the tool frame is to be rotated or translated
about its own kth unit vector then post-
multiply T by the fundamental homogeneous
rotation or translation matrix.
• Repeat the procedure.
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Screw Transformation

q Let F and M coordinate frames to be initially

coincident. If M is translated along the kth unit vector
of F by a displacement of λ and rotated about the kth
unit vector of F by an angle of Φ, the resulting
composite homogeneous coordinate transformation
matrix is called the kth fundamental screw
transformation matrix. It is denoted as:

Screw(l,f , k ) ! Rot(f , k )Tran ( li k )

Tran ( li k ) Rot(f , k ) = Rot(f , k )Tran ( li k ) 1 £ k £ 3

Screw -1 (l , f , k ) = Screw(-l , -f , k )
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Inverse Transformation

n Inverse Translation

Tran -1 ( p) = Tran(- p)

n Inverse Rotation

Rot -1 (f , k ) = Rot(-f , k ) = RotT (f , k ) 1£ k £ 3

n Inverse Transformation

-1 é R T
- R T
pù
T =ê ú
ë0 0 0 1 û

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Inverse Transformation: Proof

-1 é R T
- R T
pù
T =ê ú
ë0 0 0 1 û
-1
T ×T = I

-1 é R p ù é R T
- R T
pù
TT = ê ú ê ú
ë0 0 0 1 û ë0 0 0 1 û
é RR T - RR T p + p ù
=ê ú =I
ë0 0 0 1 û

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Composite Homogenous Transformation

n The homogeneous transformations (HT)

tool = é R Pù
Tbase ê ú
ë000 1 û

n which represent both position and orientation can

also be composite. The algorithm is identical to
the one suggested for composite rotations. For n
consecutive coordinate frames :

T1n = T12T23 ......Tnn-1

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Coordinate Transformations
n Develop a sequence of transformations from tool to
wrist, wrist to elbow, elbow to shoulder, ... back to the
base.
q3

q4

q2

T =T T T
1
4 2 3 4
1 2 3
q1

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