ECE447: Robotics Engineering

Lecture 3: Rigid Motions and Homogeneous Transformations (Part 1)

Dr. Haitham El-Hussieny

Electronics and Communications Engineering
Faculty of Engineering (Shoubra)
Benha University

Spring 2017
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Lecture Outline:

1 Introduction.

2 Representation of Translation.

3 Representation of Rotations.

4 Rotational Transformations.

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 Introduction.

Table of Contents

1 Introduction.

2 Representation of Translation.

3 Representation of Rotations.

4 Rotational Transformations.

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 Introduction.

Introduction:

A manipulator is a kinematic chain composed by a series

of rigid bodies, the links, connected by joints that allow
a relative motion.

In robotic manipulation we are concerned with two common kinematic problems:

Forward Kinematics Inverse Kinematics

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 Introduction.

Introduction:
Forward Kinematics Inverse Kinematics

Given: Joint Variables q (θ or d) Given: Position and orientation of

Required: Position and orientation of end-effector, p.
end-effector, p. Required: Joint Variables q (θ or d) to get p

p = f (q1 , q2 , . . . , qn ) = f (q) q = f (p)

EASY! DIFFICULT (May be infinite solutions exist)!

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 Introduction.

Introduction:
Solving the manipulator kinematics requires the assignment of different
coordinate frames on each joint and the end-effector.
The goal is to find the transformation between the end-effector and
T20 = T10 ∗ T21
the base frames.
In robotic manipulators, two basic transformations are used:
Translation and Rotation.

{2} {2}
T12

T01

{1}
{1}
T02
{0}
{0}
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 Representation of Translation.

Table of Contents

1 Introduction.

2 Representation of Translation.

3 Representation of Rotations.

4 Rotational Transformations.

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 Representation of Translation.

Representation of Translation:

Coordinate Frame:
The position and orientation of an
object in space is referred to as its pose.
Any description of an object’s pose must
always be made in relation to some
coordinate frames.
In robotics, it is often convenient to keep
track of multiple coordinate frames.
(Camera, robot, user, world, . . . etc.)
Coordinate Frame:
A set n of orthonormal basis vectors spanning Rn .

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 Representation of Translation.

Representation of Translation:
Coordinate Frames: [Example]

In this scenario, the user wants to know where

in the room the teapot is located.
Providing this information requires us to know
each of the following:
The position of the teapot relative to the
camera.
The position and orientation of the
camera relative to the base of the robot.
The position of the robot in the room.

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 Representation of Translation.

Representation of Translation:
Representation of a Point:
A point corresponds a particular location in the
space. For example the point p.
A point has different representation (coordinates) in
different frames.

Example (Point p):

 
0 6
w.r.t. frame {0}: p = v1 =
5
 
1 −2.8
w.r.t. frame {1}: p = v2 =
4.2
Note: the frame of reference is written in right
superscript style. pk , o01
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 Representation of Translation.

Representation of Translation:

Representation of a Point:
Since the origin of a frame is just a point,
we can express the origin of one frame
with respect to another.

Example:
 
10
o01 = o1 represented in frame {0}
5

 
−10.6
o10 = o0 represented in frame {1}
3.5

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 Representation of Rotations.

Table of Contents

1 Introduction.

2 Representation of Translation.

3 Representation of Rotations.

4 Rotational Transformations.

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 Representation of Rotations.

Representation of Rotations:
Rotation in 2D:

Frame {1} is obtained by rotating frame

{0} by an angle θ.
We need to find the relative orientation
between these two frames.
We can specify the orientation by finding
the representation of coordinate vectors of
frame {1} w.r.t frame {0}.

R10 = x01 | y10

 

x01 and y10 are the unit vector x1 and y1

represented in frame {0}.

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 Representation of Rotations.

Representation of Rotations:
Rotation in 2D:

 
x̂1 .x̂0 ŷ1 .x̂0
R10 x01 | y10
 
= =
x̂1 .ŷ0 ŷ1 .ŷ0
Projecting the axes of frame {1} onto the axes
of frame {0}:

   
cos(θ) −sin(θ)
x01 = y10 =
sin(θ) cos(θ)

 
cos(θ) −sin(θ)
R10 = Rotation Matrix
sin(θ) cos(θ)

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 Representation of Rotations.

Representation of Rotations:
Rotation in 2D:

Properties of Rotation Matrices:

1 det(R10 ) = cos2 (θ) + sin2 (θ) = 1.
2 Inverse Rotation:
 
x̂0 .x̂1 ŷ0 .x̂1
R01 x10 | y01
 
= =
x̂0 .ŷ1 ŷ0 .ŷ1
 
cos(θ) sin(θ)
R01 = = (R10 )T
−sin(θ) cos(θ)
Projecting the axes of frame {0} onto the  
axes of frame {1}. cos(θ) −sin(θ)
R10 =
sin(θ) cos(θ)
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 Representation of Rotations.

Representation of Rotations:
Rotation in 2D:

Properties of Rotation Matrices:

3 Inverse of Rotation Matrix:
 −1
cos(θ) −sin(θ)
(R10 )−1 = = (R10 )T = (R01 )
sin(θ) cos(θ)

4 R is Special Orthogonal matrix SO(n):

 
R R T = In cos(θ) −sin(θ)
R10 =
sin(θ) cos(θ)

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 Representation of Rotations.

End of Lecture

Do the Assignment 1
Due: 26/2/2017

haitham.elhussieny@gmail.com
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