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Robot Movement in Space

This document discusses homogeneous transformation matrices which are used to represent the position and orientation of robot end effectors in space. It covers topics such as pure translations, pure rotations, and combined transformations using homogeneous transformation matrices. Examples are provided to demonstrate how to represent and calculate transformations including rotations about different axes, translations, and calculating the inverse of transformation matrices. The document concludes with a question asking the reader to apply a series of rotations and translations to find the coordinates of a point relative to a reference frame.

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kanuni41
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63 views11 pages

Robot Movement in Space

This document discusses homogeneous transformation matrices which are used to represent the position and orientation of robot end effectors in space. It covers topics such as pure translations, pure rotations, and combined transformations using homogeneous transformation matrices. Examples are provided to demonstrate how to represent and calculate transformations including rotations about different axes, translations, and calculating the inverse of transformation matrices. The document concludes with a question asking the reader to apply a series of rotations and translations to find the coordinates of a point relative to a reference frame.

Uploaded by

kanuni41
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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Machine Drives and Mechatronics

Dr. Shyamal Mondal


My contact: Room T402
[email protected]

Dr. Shyamal Mondal 1


Today’s content
• Robot movement in space
– Homogeneous transformation matrix
– A pure translation
– A pure rotation about an axis
– A combination of translations and/or rotations

Dr. Shyamal Mondal 2


Homogeneous Transfomation matrix
What is homogeneous transformation?
Homogeneous Transformation Matrices use to locate robot’s end effector
position in space
• 4 by 4 matrices:
– Can be pre- or post-multiplied
– Represents both orientation and position information, including
directional vectors (scale factor) in order to make it 4x4 matrix.
– Easy to find inverse of the matrix
 nx ox ax px 
n oy ay p y 
F = y
 nz oz az pz 
 
0 0 0 1

Dr. Shyamal Mondal 3


Representation of Transformations
A transformation is defined as making a robot arm
movement in space.
A transformation may be in one of the following forms:
• A pure translation
• A pure rotation about an axis
• A combination of translations and/or rotations

Dr. Shyamal Mondal 4


Representation of a Pure Translation
If a frame moves in space without any change in its
orientation, the transformation is a pure translation.

Fnew = Trans (dx ,dy ,dz )  Fold

1 0 0 d x   nx ox  ax p x   nx ox ax px + d x 
0 1 0 d y   n y oy ay p y   n y oy ay p y + d y 
Fnew =  =
0 0 1 d z   nz oz az p z   nz oz az pz + d z 
     
0 0 0 1 0 0 0 1  0 0z 0 1 
a a
Notice that the directional vectors d
o
remain the same after a pure translation p
n
o
n
but the new location of the frame is at
d+p. x y

Figure: Representation of a pure translation in space


Dr. Shyamal Mondal 5
Representation of a Pure Rotation
Rotation about the x-Axis
Before rotation
1 0 0 
Rot ( x,  ) = 0 C − S 
0 S C 

After rotation about x axis

Rotation about the Z-Axis Rotation about the Y-Axis


C − S 0  C 0 S 
Rot ( z , ) =  S C 0  Rot ( y,  ) =  0 1 0 
 0 0 1   − S 0 C 
Dr. Shyamal Mondal 6
Representation of a Pure Rotation
• A point point P(2,3,4)T is attached to a rotating frame. The
frame rotates 900 about the x axis of the reference frame.
Find the coordinates of the point relative to the reference
frame after the rotation.
1 0 0 0
𝑅𝑜𝑡 𝑥, 𝜃 = 0 𝐶𝜃 −𝑆𝜃 0
0 𝑆𝜃 𝐶𝜃 0
𝑃𝑛𝑒𝑤 = 𝑅𝑜𝑡(𝑥, 𝜃)𝑃𝑜𝑙𝑑 0 0 0 1

1 0 0 0 1 0 0 2 1 0 0 2
𝑃𝑛𝑒𝑤 = 𝑅𝑜𝑡 𝑥, 90 𝑃𝑜𝑙𝑑 = 0 0 −1 0 0 1 0 3 = 0 0 −1 −4
0 1 0 0 0 0 1 4 0 1 0 3
0 0 0 1 0 0 0 1 0 0 0 1

Dr. Shyamal Mondal 7


Representation of Combined Transformations
Combined transformations consist of a number of successive translations and
rotations about the reference frame axes Pnoa or the moving frame axes.
• Example:
1. Rotation of  degrees about the x-axis,
2. Followed by a translation of [l1,l2,l3] (relative to the x-, y-,
and z-axes respectively),
3. Followed by a rotation of  degrees about the y-axis.
• Pre-multiply by each matrix:
p1, xyz =Rot ( x,  )  pnoa
p2, xyz = Trans(l1 , l2 , l3 )  p1, xyz = Trans(l1 , l2 , l3 )  Rot ( x,  )  pnoa

pxyz = p3, xyz = Rot ( y,  )  p2, xyz = Rot ( y,  )  Trans(l1 , l2 , l3 )  Rot ( x,  )  pnoa

Dr. Shyamal Mondal 8


Inverse of Transformation Matrices

• The inverse of a transformation (or a frame) matrix is the


following: 𝑝. 𝑛 = 𝑛𝑥 𝑝𝑥 + 𝑛𝑦 𝑝𝑦 + 𝑛𝑧 𝑝𝑧

 nx ox ax px   nx ny nz −p  n 
n oy ay p y  o oy oz −p  o 
T = y and T −1 =  x
 nz oz az pz   ax ay az −p  a 
   
0 0 0 1 0 0 0 1 

– 1. Transpose the rotation portion of the matrix.


– 2. Take the negative of the dot-product of the P and n, P and o,
and P and a vectors.
Example
• Calculate the inverse of the given
transformation matrix.
 0.5 0 0.86 3 
 
 0.86 0 −0.5 2 
 0 5
T=
1 0
 0 
 0 0 1

 0.5 0.86 0 −3.23 


 
Answer:  0 0 1 −5 
 0.86 −0.5 0 −1.59 
 0 
 0 0 1 
Question - TASK 1
A point P in space is defined as BP = (5,3,4)T relative to frame B which is attached
to the origin of the reference frame A and is parallel to it. Apply the following
transformations to frame B and find AP.

• Rotate 900 about x-axis, then


• Translate 3 units about y-axis, 6 units about z-axis, and 5 units about x-axis.
Then,
• Rotate 900 about z-axis.

Dr. Shyamal Mondal 11

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