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Module 6: Robot Manipulators Kinematics Lecture 18: Homogeneous Coordinate Transformation and Examples Objectives

This document discusses homogeneous coordinate transformations and provides examples. Homogeneous coordinates represent the position and orientation of a point P using a 4x4 matrix that relates a local frame to a global reference frame. The document proves a theorem about transforming coordinates between reference frames after a rotation. It then provides an example problem involving finding the position and orientation matrices to transform between the initial and final positions of an end effector manipulator system involving multiple reference frames. Solutions are provided that use homogeneous coordinates and rotation matrices to relate the different frames.

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82 views6 pages

Module 6: Robot Manipulators Kinematics Lecture 18: Homogeneous Coordinate Transformation and Examples Objectives

This document discusses homogeneous coordinate transformations and provides examples. Homogeneous coordinates represent the position and orientation of a point P using a 4x4 matrix that relates a local frame to a global reference frame. The document proves a theorem about transforming coordinates between reference frames after a rotation. It then provides an example problem involving finding the position and orientation matrices to transform between the initial and final positions of an end effector manipulator system involving multiple reference frames. Solutions are provided that use homogeneous coordinates and rotation matrices to relate the different frames.

Uploaded by

Kittu Kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Module 6 : Robot manipulators kinematics

Lecture 18 : Homogeneous coordinate transformation and examples

Objectives
In this course you will learn the following

What is meant by homogeneous coordinate systems for manipulators.

Its properties & Example for the same.

Homogenous Coordinates (Refer Figure 18.1)

Let x1,y1,z1 be global ref frame with x2,y2,z2 as local frame for point P. Now homogenous
coordinates are represented as 4x4 matrix of position & orientation matrix of this point .

Figure 18.1 Homogeneous coordinates

Theorem : To prove that


Fig. 18.2 Ref & body attached coordinate systems

Here we would like to find 3x3 transformation matrix R that will transform the coordinates of puvw to the
coordinates expressed w.r.t. the OXYZ coordinate system, after the OUVW coordinate system has been
rotated. That is

Recalling the definitions of the components of a vector, we have

where represent the projections of p onto respective axis. Now using definitions of scalar
product and above equation, we have

OR expressed in matrix form, it will be as

Similarly one can obtain the coordinates of puvw from coordinates of pxyz as,

from above two equations; since dot product are commutative we can write

Thus we have proved the theorem.

Theorem : To prove that


Fig. 18.2 Ref & body attached coordinate systems

Here we would like to find 3x3 transformation matrix R that will transform the coordinates of puvw to the
coordinates expressed w.r.t. the OXYZ coordinate system, after the OUVW coordinate system has been
rotated. That is

Recalling the definitions of the components of a vector, we have

where represent the projections of p onto respective axis. Now using definitions of scalar
product and above equation, we have

OR expressed in matrix form, it will be as

Similarly one can obtain the coordinates of puvw from coordinates of pxyz as,

from above two equations; since dot product are commutative we can write

Thus we have proved the theorem.

Example

Find position and orientation matrices (transformation) of end effecter in initial and final position for the
system shown below.

Solution :
A object with 3 pegs is placed on a table as shown below Figure 18.3. It need to be picked up & placed on
another inclined plane part as shown. Problem is about matching the two coordinate systems viz
(x2,y2,z2) to (x5,y5,z5).
Figure 18.3

Data given that,

The rotation matrix is ( All 3x3 matrices) & Transformation

matrix is (4x4) which need to be found for initial & final position of
part.

Part (A)

We have ,

Also, local coordinate systems 4, 5 & 6 are parallel. Therefore their rotation

matrices are Identity matrices.

Thus rotation matrix in global coordinate is known for final position of End effecter (EE).

Also for initial position of part, the coordinate systems are parallel to each other except directions.
Therefore rotation matrix is
Part(B)
To find the transformation matrices for initial & final position of end

Effecter, we proceed as follows.

For initial position of EE,

For final position of EE,

Thus all the matrices are known from above to calculate

Recap

In this course you will learn the following

Specifying position and orientation of rigid bodies can be done by homogeneous coordinate representation

How to express end effector coordinate in base reference frame using homogeneous coordinates

Congratulations, you have finished Lecture 18. To view the next lecture select it from the left hand side
menu of the page

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