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Robot Kinematics: - Spatial Descriptions and Transformations - Introduction To Motion

This document discusses robot kinematics and coordinate systems. It introduces spatial descriptions and transformations between coordinate systems. The objectives are to represent position and orientation, transform between coordinate systems, and use frames and homogeneous coordinates. It describes coordinate systems, problems with coordinate systems, and how to describe position, orientation, and frames. It also covers mapping between frames through translation and rotation, homogeneous coordinates, and operators for translation, rotation, and general transformations.

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81 views24 pages

Robot Kinematics: - Spatial Descriptions and Transformations - Introduction To Motion

This document discusses robot kinematics and coordinate systems. It introduces spatial descriptions and transformations between coordinate systems. The objectives are to represent position and orientation, transform between coordinate systems, and use frames and homogeneous coordinates. It describes coordinate systems, problems with coordinate systems, and how to describe position, orientation, and frames. It also covers mapping between frames through translation and rotation, homogeneous coordinates, and operators for translation, rotation, and general transformations.

Uploaded by

Sehzad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Robot Kinematics

•Spatial Descriptions and


Transformations
•Introduction to Motion
Objectives of the Lecture
• Learn to represent position and orientation
• Be able to transform between coordinate
systems.
• Use frames and homogeneous coordinates
Introduction
• Robot manipulation implies movement in
space
• Coordinate systems are required for
describing position/movement
• Objective: describe rigid body motion
• Starting point: there is a universe/ inertial/
stationary coordinate system, to which any
other coordinate system can be referred
Coordinate System in Robotics
Three Problems with CS
• Given 2 CS’s, how do we express one as a
function of the other?
• Given a point in one CS, what are the
point’s coordinates on a second CS?
• Apply an operation on a vector
Description of a Position
a coordinate system
• point = position vector
{A}
ZA
AP  px 
A 
P  py 
YA  
 pz 
XA
Description of an Orientation
Often a point is not enough:
need orientation
z0 {A} • In the example, a
y0 description of {B} with
y1
respect to {A} suffices to
give orientation
 • Orientation = System of
x1
Coordinates
x0 • Directions of {B}: XB, YB
z1 {B} and ZB
• In {A} coord. system:
AX , AY and AZ
B B B
From {A} to {B}
cos Z   Z A  X B
{A}

XB

cos X   X A  X B aZ

aX aY cosY   YA  X B

X A  X B 
X B   YA  X B 
We conclude: A

 Z A  X B 
Rotation Matrix
• Stack three unit vectors to form Rotation Matrix
A
• B R describes {B} with respect to {A}

A
B R 
A
A
Xˆ B YˆB
A A
Zˆ B 
• Each vector in R can be written as dot product
B
of pair of unit vectors: cosine matrix
A
• Rows of B R : unit vectors of {A} with respect to
{B}
A 1
• What is B R ? What is det( BA R )?
• Position + orientation = Frame
Description of a Frame
• Frame: set of four
vectors giving position +
z0 orientation
{A}
• Description of a frame:
y0 position + rotation matrix
y1
• Ex.:


{B}  
A
B R, APBORG 
x1
• position: frame with
x0 identity as rotation
z1 {B}
• orientation: frame with
zero position
Mapping: from frame 2 frame
{B}
Translated Frames ZB
AP
{A}
ZA BP

YB
AP
BORG XB
YA
XA
• If {A} has same orientation as {B}, then {B}
differs from {A} in a translation: APBORG
AP = BP + AP
BORG
• Mapping: change of description from one frame to
another. The vector APBORG defines the mapping.
Rotated Frames
ZA BP B
P  px X B  p yYB  pz Z B
A
P  px A X B  p y AYB  pz AZ B

 px 
A
P  A
XB A
YB A

Z B  p y 
YA
 p z 
A
P BAR BP

XA Description of Rotation = Rotation Matrix


Rotated Frame (cont.)
• The previous expression can be written as
A
P R P
A
B
B

• The rotation mapping changes the


description of a point from one coordinate
system to another
• The point does not change! only its
description
Example (2D rotation)
YA

y0


x0 XA

x1  x0 cos  y0 sin 
y1   x0 sin   y0 cos
General Frame Mapping
A
P  BAR BP  APBORG

BP
AP
XB
ZA ZB
Replace by the more appealing
AP equation:
BORG
YB
YA
 A P  BA R A
PBORG   B P
{A}    
XA  1  0 0 0 1  1 

A “1” added here A row added here


Homogeneous Coords
• 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 
Operators: Translation, Rotation
and General Transformation
• Translation Operator:

P1 Q
P2

A
P2  P1  Q
A A

ˆ  
 TRANS ( Q, | Q |) P1
A A
Translation Operator
• Translation Operator:
• Only one coordinate frame, point moves
• Equivalent to mapping point to a 2nd frame
• Point Forward = Frame Backwards

• How does TRANS look in homogeneous


coordinates?
Operators (cont.)
• Rotational Operator

Rotation around axis: K AP


1


AP
2
Rotation Operator

• Rotational Operator
The rotation matrix can be seen as rotational
operator
• Takes AP1 and rotates it to AP2=R AP1

• AP2=ROT(K, q)(AP2)
• Write ROT for a rotation around K
Operators (Cont.)
• Transformation Operators
* A transformation mapping can be viewed as
a transformation operator: map a point to
any other in the same frame
* Transform that rotates by R and translates
by Q is the same a transforming the frame
by R & Q
Compound Transformation
If {C} is known relative to {B}, and {B} is
known relative to {A}. We want to
transform P from {C} to {A}:
B
P  CT P
B C

 AP  CAT CP
A
P  ABT BP
From here define
A
CT  ABT CBT

Write down the compound in homog. coords


Inverse Transform
Write down the inverse transform in HC’s
More on Rotations
• We saw that a rotation can be represented
by a rotation matrix
• Matrix has 9 variables and 6+ constraints
(which?)
• Rotations are far from intuitive: they do not
commute!
• Rotation matrix can be parameterized in
different manners:
—Roll, pitch and yaw angles
—Euler Angles
—Others

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