Industrial Robotics

Spatial descriptions and

transformations

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 Spatial Descriptions and
Transformations
• Space
– Type – Physical, Geometry, Functional
http://en.wikipedia.org/wiki/Space

– Dimension & Direction

• Basis vectors
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– Distance
• Norm
– Description – Coordinate System
• Matrix
– Robots live in 3D Euclidean space

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 Spatial Descriptions and
Transformations
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 Generalized Coordinates
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 End-Effector Configuration Parameters
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Industrial Robotics

http://en.wikipedia.org/wiki/Configuration_space 6
 A review of vectors and matrix
• Vectors
– Column vector and row vector
 v1 
v 
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v   2 v  v1 v2  vn 

 
 vn 

– Norm of a vector

| v | v12  v22  ...  vn2

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 Dot product of two vectors
• Vector v and w
v  w | v || w | cos 
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• If v  w 1
v


v  w  cos  w

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 Position Description
• Coordinate System A
Ẑ A

 x A
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P
A 
P   y 
 z 

YˆA

X̂ A 9
 Orientation Description
• Coordinate System A
A
Ẑ A P
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 x
A
P   y 
 z 
YˆA

X̂ A 10
 Orientation Description
• Coordinate System A
• Attach Frame B A
P
Ẑ A
(Coordinate System Ẑ B
B)
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 x
P   y 
A
X̂ B
YˆB
 z 
YˆA

X̂ A 11
 Orientation Description
• Coordinate System A
• Attach Frame
Ẑ A
Coordinate System B A Ẑ B
P
• Rotation matrix
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A
B R  A
Xˆ B YˆB
A A
Zˆ B  X̂ B
YˆB
 r11 r12 r13  r31  Xˆ B  Zˆ A
r21  Xˆ B  YˆA
 r21 r22 r23 
  YˆA
 r31 r32 r33 
r11  Xˆ B  Xˆ A
X̂ A 12
 Rotation matrix
Directional
A
B R  Xˆ
A
B YˆB
A A
Zˆ B  Cosines

B T
 Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A  X̂ A
 ˆ 
  X B  YˆA YˆB  YˆA ˆ ˆ
Z B  YA 
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 Xˆ B  Zˆ A YˆB  Zˆ A Zˆ B  Zˆ A 

Directional
Cosines
 B Xˆ AT 
BˆT B ˆ
 
A
X̂ B
YˆA Zˆ A  ABRT
T
  YA   X A B B

 B Zˆ AT 
 
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 Rotation matrix
A B
B R A RT
A
B
B
RA R  I BAR  A
B
R 1
1
B
A R  R
T B
A
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• For matrix M,
– If M-1 = MT , M is orthogonal matrix
– BA R is orthogonal!!

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 Orthogonal Matrix
A
B R  A
Xˆ B YˆB
A A
Zˆ B 
 Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A 
 ˆ 
  X B  YˆA YˆB  YˆA ˆ ˆ
Z B  YA 
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 Xˆ B  Zˆ A YˆB  Zˆ A Zˆ B  Zˆ A 


9 Parameters to describe orientation!

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 Description of a frame
• Position + orientation
Ẑ A
Ẑ B
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{B} { R, PBORG}
A
B
A X̂ B
A
PBORG YˆB

YˆA

X̂ A 16
 Mapping: Change Coordinates
– Translation Difference
Ẑ A
Ẑ B B
A
PBORG P
A
P
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X̂ B
YˆB

YˆA
A
P  PBORG  P
A B
 
 I A
PBORG 
X̂ A  A P A  B P BT 
A  
   BT   



1 1 0 0 0 1 17
 Mapping – rotation difference
B
 Px 
A
P  Px A Xˆ B  Py AYˆB  Pz A Zˆ B
B
P   Py   Px Xˆ B  PyYˆB  Pz Zˆ B B
 Px 
 
Ẑ A  Pz   [ A Xˆ B A
YˆB Z B ]  Py 
A ˆ
 
 Pz 
Ẑ B  BAR BP
B
P A
P R P A B
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YˆB B

 A P A  B P
   BT  
1 1
YˆA  
 A
R 0 
X̂ A BT 
A  B 
X̂ B  
 
0 0 0 1 18
 Example
1 YˆB B
P
B
P   2  AP ? YˆA X̂ A
 
 1 30

30
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Zˆ B  Zˆ A X̂ B
A
B R  Xˆ
A
B YˆB
A A
Zˆ B 
 Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A   cos 30 cos 60 cos 90 
   
  Xˆ B  YˆA YˆB  YˆA Zˆ B  YˆA   cos 120 cos 30 cos 90 
 Xˆ B  Zˆ A YˆB  Zˆ A Zˆ B  Zˆ A   cos 90 cos 90 cos 0 


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 Mapping: Rotation + Translation
Difference
Ẑ A
Ẑ B B
P
A
P
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YˆB
X̂ B

YˆA

A
P  PBORG 
A A
B R BP
X̂ A
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 Homogeneous
Transformation for Mapping
A
P APBORG  BAR BP

 A Px   A
PBORG _ x   B Px 
A   A A  
 Py    R PBORG _ y   B Py 
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B
 A Pz   A
PBORG _ z   B Pz 
    
 1  0 0 0 1  1 

A
B T

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 Compound transformations
{A} {Au R,uPAORG } {B} {Bu R,u PBORG } {Au R BAR, BAR APBORG  uPAORG }
A
P  ABT BP
 u
R u
PAORG   BA R A
PBORG  B
u
P  uAT AP  uAT ABT BP   A   P
0 1  0 1 
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Ẑ A
Ẑ B
u
Ẑ u PBORG {B}
X̂ B
A
PBORG YˆB
{U}
Yˆu YˆA
{A}
X̂ u
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X̂ A
 Industrial Robotics

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 Industrial Robotics

Operators

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 Rotational Operators
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 Translation Operator

• Translation operator
A
Ẑ A P2
A
P1
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A
Q A
P2  P1  Q
A A

A
P2  DQ ( q) AP1
YˆA
1 0 0 qx 
0 1 0 qy  q  q x  q y  qz
2 2 2

X̂ A DQ ( q)   
0 0 1 qz 
 
0 0 0 1 26
 Recall: Mapping – rotation
difference
Ẑ A
A
P  BAR AP

Ẑ B  A P A  B P
B
P    BT  
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YˆB 1 1

 
 A
R 0 
YˆA BT 
A  B 
 
 
X̂ A 0 0 0 1
X̂ B
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 Relationship between Mapping with only
Rotational Difference and Rotation Operator
𝐴
𝑃1 = 𝐵𝐴𝑅 𝐵𝑃1 = 𝑅𝑍 (𝜃) 𝐴𝑃2
YˆA
YˆB P1  AP2 𝐴
𝐵𝑅 = 𝑅𝑍 (𝜃)
A B
P1
R  Xˆ B YˆB Zˆ B 
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A A A A
B
A
 P2  Xˆ B  Xˆ A YˆB  Xˆ A Zˆ B  Xˆ A 
 
  Xˆ B  YˆA YˆB  YˆA Zˆ B  YˆA 
 X̂ B  Xˆ B  Zˆ A Yˆ  Zˆ Zˆ B  Zˆ A 
 B A

  cos  cos(90   ) cos 90 

X̂ A  
 cos(90   ) cos  cos 90 
 cos 90 cos 90 cos 0 

cos   sin  0
  sin  cos  0
 
Ẑ A  0 0 1
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 Relationship between Mapping with only
Rotational Difference and Rotation Operator

𝐴
𝐵𝑅 = 𝑅𝑍 (𝜃)

• The rotation matrix that rotates vectors

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through some rotation, R, is the same

as the rotation matrix that describes a
frame rotated by R relative to the
reference frame.

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 Homogeneous Transformation for
Mapping
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 General Operators
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 Inverse Transform
Tu ABT Xac dinh B
T
A
B
A R  BAR T  BAR 1
B A
( PBORG )  ABR APBORG  BPAORG  0
B
PAORG  BAR T A PBORG
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 Homogeneous Transform Interpretations
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 Transform Equation
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 Compound Transformations
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T  ABT CBT
A
C

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 Industrial Robotics

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 Transform Equation
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T 1
A
B

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Industrial Robotics

http://en.wikipedia.org/wiki/Invertible_matrix
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