Introduction to ROBOTICS Kinematics Pose position and orientation

Introduction to ROBOTICS Kinematics Pose (position and orientation) of a Rigid Body University of Bridgeport 1

Representing Position (2 D) (“column” vector) A vector of length one pointing in the direction of the base frame x axis A vector of length one pointing in the direction of the base frame y axis 2

Representing Position: vectors • The prefix superscript denotes the reference frame in which the vector should be understood Same point, two different reference frames 3

Representing Position: vectors (3 D) right-handed coordinate frame A vector of length one pointing in the direction of the base frame x axis A vector of length one pointing in the direction of the base frame y axis A vector of length one pointing in the direction of the base frame z axis 4

The rotation matrix : To specify the coordinate vectors for the fame B with respect to frame A θ: The angle between and in anti clockwise direction 5

The rotation matrix 6

Useful formulas 7

Example 1 8

Example 1 9

Example 1 Another Solution 10

Basic Rotation Matrix – Rotation about x-axis with 11

Basic Rotation Matrices – Rotation about x-axis with – Rotation about y-axis with – Rotation about z-axis with 12

Example 2 • A point is attached to a rotating frame, the frame rotates 60 degree about the OZ axis of the reference frame. Find the coordinates of the point relative to the reference frame after the rotation. 13

Example 3 • A point is the coordinate w. r. t. the reference coordinate system, find the corresponding point w. r. t. the rotated OUVW coordinate system if it has been rotated 60 degree about OZ axis. 14

Composite Rotation Matrix • A sequence of finite rotations – matrix multiplications do not commute – rules: • if rotating coordinate OUVW is rotating about principal axis of OXYZ frame, then Pre-multiply the previous (resultant) rotation matrix with an appropriate basic rotation matrix [rotation about fixed frame] • if rotating coordinate OUVW is rotating about its own principal axes, then post-multiply the previous (resultant) rotation matrix with an appropriate basic rotation matrix [rotation about 15 current frame]

Rotation with respect to Current Frame 16

Example 4 • Find the rotation matrix for the following operations: Pre-multiply if rotate about the fixed frame Post-multiply if rotate about the current frame 17

Example 5 • Find the rotation matrix for the following operations: Pre-multiply if rotate about the fixed frame Post-multiply if rotate about the current frame 18

Example 6 • Find the rotation matrix for the following operations: Pre-multiply if rotate about the fixed frame Post-multiply if rotate about the current frame 19

Example 6 • Find the rotation matrix for the following operations: 20

Quiz • Description of Roll Pitch Yaw • Find the rotation matrix for the following operations: Z Y X 21

Answer Z Y X 22

Coordinate Transformations • position vector of P in {B} is transformed to position vector of P in {A} • description of frame{B} as seen from an observer in {A} Rotation of {B} with respect to {A} Translation of the origin of {B} with respect to origin of {A} 23

Homogeneous Representation • Coordinate transformation from {B} to {A} Can be written as Rotation matrix (3*3) Position vector (3*1) 24

Homogeneous Representation Rotation matrix (3*3) Position vector of the origin of frame B wrt frame A (3*1) 25

Homogeneous Transformation • Special cases 1. Translation 2. Rotation 26

Example 7 • Translation along Z-axis with h: h O O 27

Example 7 • Translation along Z-axis with h: 28

Example 8 • Rotation about the X-axis by 29

Homogeneous Transformation • Composite Homogeneous Transformation Matrix • Rules: – Transformation (rotation/translation) w. r. t fixed frame, using pre-multiplication – Transformation (rotation/translation) w. r. t current frame, using post-multiplication 30

Example 9 • Find the homogeneous transformation matrix (H) for the following operations: 31

Remember those double-angle formulas… 32

Review of matrix transpose Important property: 33

and matrix multiplication… Can represent dot product as a matrix multiply: 34

HW • Problems 2. 10, 2. 11, 2. 12, 2. 13, 2. 14 , 2. 15, 2. 22, 2. 24, 2. 37, and 2. 39 • Quiz next class 35