Robot Mechanics and Control RIME-811: Dr. Hasan Sajid

Robot Mechanics and Control
RIME-811
Dr. Hasan Sajid
Representing Position and Orientation
• Pose: Combination of position and orientation

• a point in space?
• Coordinate frame/ Cartesian coordinate
system?
• A point in space can be defined as
……combination of unit vector ……. to the axes
of coordinate system.
• Convention: Attach coordinate frame to an object. It

enables us to describe the pose (position and
orientation) of an object with respect to
reference/universal coordinate frame. Each frame is
given a name.
• Assumption: object is rigid
• How many dimensions are required to
completely describe the pose of an object?
• Position Description: we can locate any point in the
universe with a 3 x 1 position vector.
Reference Projection of vector on x-axis

coordinate frame of frame A
represented by leading Projection of vector on y-axis
superscript of frame A
Projection of vector on x-axis

of frame A
• Orientation Description:
To describe the orientation of a body, we

attach a coordinate system to the body and
then give a description of this coordinate
system relative to the reference system.
If we attach frame {B} to body then description

of {B} relative to (A) now suffices to give
the orientation of the body
unit vectors of frame {B}
unit vectors of frame {B}

written in terms of frame {A}
A rotation matrix that

describes {B} relative to {A}
• Orientation Description:
The description of frame {A} relative to {B}, is
given by the transpose
inverse of a rotation matrix is equal to its

transpose
• Thus,
– positions of points are described with vectors and
– orientations of bodies are described with an
attached coordinate system.
• Frame Description: The information needed to
completely specify the whereabouts of the
manipulator hand is a position and an orientation
*The situation of a position and an

orientation pair arises so often in
robotics that we define an entity called a
frame, which is a set of four vectors
giving position and orientation
information.
• Frame Description: A frame is depicted by three
arrows representing unit vectors defining the
principal axes of the frame
A frame can be used as a description of one coordinate system

relative to another
Mappings: Changing Descriptions from Frame to Frame
• In robotics, we are concerned with expressing the same

quantity in terms of various reference coordinate systems
• we now consider the mathematics of mapping in order to

change descriptions from frame to frame.
Case 1: Mappings involving rotated frames
A rotation matrix describing {B} relative to {A} is denoted as
*The columns of a rotation matrix all have unit magnitude, and,

further, that these unit vectors are orthogonal. Therefore
Case 1: Mappings involving rotated frames
Orientation Description in 2D
Describe frame
{B} with respect to
frame {A}
Orientation Description in 2D – Orthonormal rotation matrix
We introduce another frame {V} whose axis are

parallel to frame {A} but origin lies on frame {B}. Point
P can be expressed in terms of frame {V} as:
Eq 1
Frame {B} can be described using its

orthogonal axes as:
We can represent point P wrt frame {B} as
Eq 2
Equate equations 1 and 2, to see how points are

transformed when frame is rotated.
Rotation Matrix: transforms a

point P from one frame to the
other. It is denoted by VRB
• Properties of rotation matrix

Example: Figure shows a frame {B} that is rotated relative to frame {A}
about Z by 30 degrees. Given BP as below, Find AP?
Rotation Matrix in Toolbox
R=rot2(0.2)
Symbolic Mathematics
syms theta
R=rot2(theta)
Case 2: Mappings involving translated frames
Position Description
• Translation?
• It is simply vector addition
Homogeneous Form of a Vector
Working in 2D – Homogeneous Transformation
Matrix
• Coordinate vectors of point P can be

expressed in homogeneous form (note that
tilde indicates a homogeneous vector) as
AT represents the translation and orientation or relative pose

B
and often referred as rigid-body motion.
Case 3: Mappings involving general frames
Very often, we know the description of a vector with respect to some
frame {B}, and we would like to know its description with respect to
another frame, {A}. We now consider the general case of mapping.
Case 3: Mappings involving general frames
The description of
frame {B} relative
to frame {A}
*The 4 x 4 matrix is called a
homogeneous transform. For our
purposes, it can be regarded purely as a
construction used to cast the rotation and
translation of the general transform into a
single matrix form
Example: Figure shows a frame {B}, which is rotated relative to frame (A}
about Z by 30 degrees, translated 10 units in XA, and translated 5 units in
YA Find Ap, where
Transformation Arithmetic: Multiplication and Inversion
• An important characteristic of relative poses is

that they can be combined/composed
together
*Pose of {C} relative to {A} can be obtained by

compounding the relative poses from {A} to
{B} and {B} to {C}. Here operator ⊕ to indicate
Composition of relative poses.
Compound Transformations: Given CP, we wish to find AP
Combining the two equations
we could define
Transformation in Toolbox
T1=transl2(1,2)*trot2(30,'deg') *Note that rot2 provides

plotvol([0 5 0 5]); orthonormal rotation matrix,
trplot2(T1, 'frame', '1', 'color', 'b') whereas trot2 provides
homogeneous transformation
T2 = transl2(2, 1)
trplot2(T2, 'frame', '2', 'color', 'r');
T3 = T1*T2
trplot2(T3, 'frame', '3', 'color', 'g');
T4 = T2*T1;
trplot2(T4, 'frame', '4', 'color', 'c');
P = [3 ; 2 ];
plot_point(P, 'label', 'P', 'solid', 'ko');
Inverting a Transform: Consider a frame {B} that is known with respect
to a frame {A}—that is, we know the value of ABT. Sometimes we will
wish to invert this transform, in order to get a description of {A} relative
to {B}—that is, BAT
Example: Figure shows a frame {B} that is rotated relative to frame {A}
about Z by 30 degrees and translated four units in XA and three units in
YA .Thus, we have a description of ABT. Find, BAT
Transformation Equations
We can express frame {D} as product of different transformations in
different ways
Equating both to get

transform equation
It can be used to find

unknown transforms.
For example if BCT is
unknown then
Spatial Relationships
Example:

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Robot Mechanics and Control

• Pose: Combination of position and orientation

• Convention: Attach coordinate frame to an object. It

Reference Projection of vector on x-axis

Projection of vector on x-axis

To describe the orientation of a body, we

If we attach frame {B} to body then description

unit vectors of frame {B}

unit vectors of frame {B}

A rotation matrix that

inverse of a rotation matrix is equal to its

*The situation of a position and an

A frame can be used as a description of one coordinate system

• In robotics, we are concerned with expressing the same

• we now consider the mathematics of mapping in order to

A rotation matrix describing {B} relative to {A} is denoted as

*The columns of a rotation matrix all have unit magnitude, and,

We introduce another frame {V} whose axis are

Frame {B} can be described using its

We can represent point P wrt frame {B} as

Equate equations 1 and 2, to see how points are

Rotation Matrix: transforms a

• Properties of rotation matrix

• Coordinate vectors of point P can be

AT represents the translation and orientation or relative pose

• An important characteristic of relative poses is

*Pose of {C} relative to {A} can be obtained by

Combining the two equations

T1=transl2(1,2)*trot2(30,'deg') *Note that rot2 provides

Equating both to get

It can be used to find

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T1=transl2(1,2)trot2(30,'deg') Note that rot2 provides