UNIT-II

MOTION ANALYSIS
Objectives
• To understand the representation of orientation of the body in matrix
form
• To analyse the concept of transformation of a point from one frame
to another frame
• The effect of rotation of a point about fixed frame and current frame
• The Homogeneous transformation matrix and evaluation of its
inverse.
 ROBOT KINEMATICS

• Robot kinematics studies the relationship between the

dimensions and connectivity of kinematic chains and the
position, velocity and acceleration of each of the links in the
robotic system, in order to plan and control movement and to
compute actuator forces and torques.
• So we will study the operation of rotation or translation of
manipulator joints or co-ordinate system. So we introduce a
homogeneous transformation matrix.

• For rotation and translation and combines operation of rotation

of rotation and translation in a single matrix.
Transformation

• To describe the position and orientation tool with respective to

the base frame. It is necessary to formulate the body attached
co-ordinate frame along with the joint access.

• The relation between body attached frame with the face frame
of refence is described by homogenous transformation matrix.
• The homogenous transformation matrix is represented by the
following components representation
a) Rotation matrix (3x3)
b) Translation (or) position vector (3x1)
c) Perspective translation (1x3)
d) Scaling factor (1x1)

The homogenous matrix is represented by “H”

1 0 0 0
3×3 3×1 0 1 0 0
H= =
1×3 1×1 0 0 1 0
0 0 0 1
• A vector can be translated or rotated in space by means of a
transformation is accomplished by (4x4) matrix “H”.
• For vector ‘V’ is transformed into vector ‘U’ by the following matrix
operation. i.e U=H*V
• The following transformation to accomplish a translation of a
vector in space by a distance of ‘a’ in x-direction, ‘b’ in y-direction
‘c’ in z-direction is give by
1 0 0 0 1 0 0 a
0 1 0 0 0 1 0 𝑏
H= X Translation (a, b, c) =
0 0 1 0 0 0 1 c
0 0 0 1 0 0 0 1
Problem:
For the vector v=25i+10j+20k perform a translation by a distance of 8 in
x-direction, 5 in y-direction and 0 in z-direction .
25
10
Sol: Given: v=25i+10j+20k; v=
20
1

Movements in x-direction = a = 8
“ in y-direction = b = 5
“ in z-direction = c = 0
 1 0 0 0
0 1 0 0
H= X Translation (a, b, c)
0 0 1 0
0 0 0 1
1 0 0 a 1 0 0 8
0 1 0 𝑏 0 1 0 5
= =
0 0 1 c 0 0 1 0
0 0 0 1 0 0 0 1

We know that, U=H*V

1 0 0 8 25 33
0 1 0 5 10 15
U= X =
0 0 1 0 20 20
0 0 0 1 1 1
Rotation Transformation
• The rotation of the vector about each of 3-axis by an angle ‘θ’ can
be accomplished by rotation.
• About X-axis rotation transformation
1 0 0 0
0 cosθ −sinθ 0
H = R (X, θ) =
0 sinθ cosθ 0
0 0 0 1
• About Y-axis rotation transformation
cosθ 0 sinθ 0
0 1 0 0
H = R (Y, θ) =
−sinθ 0 cosθ 0
0 0 0 1

• About Z-axis rotation transformation

cosθ −sinθ 0 0
sinθ cosθ 0 0
H = R (Z, θ) =
0 0 1 0
0 0 0 1
Problem:
Find the vector v=25i+10j+20k by the angular 30⁰ about X-axis and
translate 3 units about Z-axis then translate about 4 units and rotate
y=45⁰.
25
10
Sol: Given: v=25i+10j+20k; v=
20
1
a) H=Rot(X, 30) x Trans(0, 0, 3)
1 0 0 0 1 0 0 0
0 cosθ −sinθ 0 0 1 0 0
= x
0 sinθ cosθ 0 0 0 1 3
0 0 0 1 0 0 0 1
 1 0 0 0 1 0 0 0
0 cos30 −sin30 0 0 1 0 0
= x
0 sin30 cos30 0 0 0 1 3
0 0 0 1 0 0 0 1

1 0 0 0 1 0 0 0
0 0.86 −0.5 0 0 1 0 0
= x
0 0.5 0.86 0 0 0 1 3
0 0 0 1 0 0 0 1

1 0 0 0
0 0.86 −0.5 −1.5
H=
0 0.5 0.86 2.58
0 0 0 1
 U=HxV
1 0 0 0 25 25
0 0.86 −0.5 −1.5 10 −2.9
U= X =
0 0.5 0.86 2.58 20 24.78
0 0 0 1 1 1

b) H=Rot(y, 45) x Trans(0, 0, 4)

cosθ 0 sinθ 0 1 0 0 0
0 1 0 0 0 1 0 0
= x
−sinθ 0 cosθ 0 0 0 1 4
0 0 0 1 0 0 0 1

cos45 0 sin45 0 1 0 0 0
0 1 0 0 0 1 0 0
= x
−sin45 0 cos45 0 0 0 1 4
0 0 0 1 0 0 0 1
 0.707 0 0.707 0 1 0 0 0
0 1 0 0 0 1 0 0
= x
−0.707 0 0.707 0 0 0 1 4
0 0 0 1 0 0 0 1
0.707 0 0.707 2.828
0 1 0 0
H=
−0.707 0 0.707 2.828
0 0 0 1

U=HxV

0.707 0 0.707 2.828 25 34.64

0 1 0 0 10 10
U= X =
−0.707 0 0.707 2.828 20 −0.707
0 0 0 1 1 1
Problem:
Find the transformation matrix for the following for the operation
point v=-4i+9j-3k
a) 45⁰ with x-axis and the translation along 3 units z-axis
b) Translated 5 units z-axis and then rotate 60⁰ to z-axis
Sol: Given: v=-4i+9j-3k
a) H=Rot(X, 45⁰) x Trans(0, 0, 3)
1 0 0 0 1 0 0 0
0 cos45 −sin45 0 0 1 0 0
= x
0 sin45 cos45 0 0 0 1 3
0 0 0 1 0 0 0 1
 1 0 0 0 1 0 0 0
0 cos45 −sin45 0 0 1 0 0
= x
0 sin45 cos45 0 0 0 1 3
0 0 0 1 0 0 0 1

1 0 0 0 1 0 0 0
0 0.707 −0.707 0 0 1 0 0
= x
0 0.707 0.707 0 0 0 1 3
0 0 0 1 0 0 0 1
 1 0 0 0
0 0.707 −0.707 −2.121
H=
0 0.707 0.707 2.121
0 0 0 1

U=HxV
1 0 0 0 −4 −4
0 0.707 −0.707 −2.121 9 6.363
U= X =
0 0.707 0.707 2.121 −3 6.363
0 0 0 1 1 1
b) H=Rot(z, 60⁰) x Trans(0, 0, 5)

cosθ −sinθ 0 0 1 0 0 0
sinθ cosθ 0 0 0 1 0 0
= x
0 0 1 0 0 0 1 5
0 0 0 1 0 0 0 1

cos60 −sin60 0 0 1 0 0 0
sin60 cos60 0 0 0 1 0 0
= x
0 0 1 0 0 0 1 5
0 0 0 1 0 0 0 1
 0.5 −0.866 0 0
0.866 0.5 0 0
H=
0 0 1 5
0 0 0 1

U=HxV
0.5 −0.866 0 0 −4 −9.794
0.866 0.5 0 0 9 1.036
U= X =
0 0 1 5 −3 2
0 0 0 1 1 1
Combination of both translation & rotation of a frame
 1 0 0 0 1 0 0 b 1 0 0 0 cosθ −sinθ 0 0
0 cosα −sinα 0 0 1 0 0 0 1 0 0 sinθ cosθ 0 0
= x x x
0 sinα cosα 0 0 0 1 0 0 0 1 d 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1