ARQUITECTURA DE

ROBOTS
Spatial transformations pt2

MC. Mario Angel Rico Mendez

Facultad de Ingeniería Mecánica y Eléctrica
 Rotation matrix

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Rotación x,y,z

cos  − sen 0 1 0 0 
   
B R ( Z ,  ) =  sen cos  B R( X ,  ) = 0 cos  − sen 
A A
0
 0 0 1  0 sen cos  

 cos  0 sen 
A
R (Y ,  ) =  0 1 0 
B 
 − sen 0 cos  

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 Rotation matrix
properties

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Rotation Matrix Properties
• Each row/column of a rotation matrix in a unit vector

cos  − sen 0
 
B R ( Z ,  ) =  sen cos 
A
0
 0 0 1 

cos  + − sen + 0 = 1
2 2 2
cos  + sen + 0 = 1
2 2 2

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Rotation Matrix Properties
• The point product of each row of the rotation matrix is 0, as in
each column

cos  − sen 0
 
B R ( Z ,  ) =  sen cos 
A
0
 0 0 1 

A B =| A || B | cos 

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Rotation Matrix Properties
• A rotation matrix is not commutative

R( X , 1 ) R(Y ,  2 )  R(Y ,  2 ) R( X , 1 )
The inverse of the rotation matrix is its transpose
R −1 ( X , 1 ) = RT ( X , 1 )

A
B T = BA T −1

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 Translation operators

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 Translation operator
• Trans(X,p): Translation of "p" units along the x direction

1 0 0 px  1 0 0 0
0 0  0
1 0 1 0 p y 
Trans ( X , p )  Trans (Y , p) 
0 0 1 0 0 0 1 0
   
0 0 0 1 0 0 0 1
• The operator is commutative

Trans ( X , p )Trans (Y , p )Trans ( Z , p ) = Trans (Y , p )Trans ( Z , p )Trans ( X , p)

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X,Y,Z translation operator

1 0 0 px 
0 1 0 p y 
Trans ( X , p ) 
0 0 1 pz 
 
0 0 0 1

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Translation example
• According to the Figure, the
O'UVW system is translated a
vector p(6,-3,8) with respect to the
OXYZ system. Calculate the
coordinates (rx,ry,,rz) of the vector
r whose coordinates with respect
to the O'UVW system are r(-2,7,3).

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Example
• A frame {B} is rotated over X A 45 degrees and translated along
𝑋𝐴 , 𝑌𝐴 , 𝑍𝐴 by 1,2 y 3 units respectively. Let the position of the
point P in {B} be given by [3, 2,1]T
• Determine A P

A
P = BA R B P

A
P= A
B R( X , )  P B

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Solution

A
P = BA T B P

1 0 0 1  3
0 cos(45) − sin(45) 2   2 
A
P = BA T B P = 
0 sin(45) cos(45) 3  1 
  
0 0 0 1  1 

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Solution

 4 
 2 cos(45) − sin(45) + 2 
A
P = BA T B P =  
 2sin(45) + cos(45) + 3 
 
 1 

 4 
 2.707 
A
P = BA T B P =  
 5.121
 
 1 
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Exercise
• A frame {B} is rotated over Z A 55 degrees and moved along
X A , YA , Z A by 5,2 y 1 units respectively. Let be the position of the
point P on {B} given by [3,5,1]T
• Determine
A
P = BA R B P

A
P= T P
A
B
B

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 Transformation matrix

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• The main advantage of homogeneous matrices is their ability to
jointly represent position and orientation

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Rotation-translation example
• An OUVW system has been rotated 90° over the OX axis and subsequently
translated a vector p(8,-4,12) with respect to the OXYZ system.
• Calculate the coordinates (rx ,ry ,rz) of the vector with coordinates ruvw (-3,4,-11).

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Translation – rotation example
• An OUVW system has been moved a vector p(8,-4,12) with respect to the OXYZ
system and rotated 90° around the OX axis (Figure 3.16). Calculate the coordinates
(rx , ry , rz) of the coordinate vector rxyz(—3,4,-11).

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Composite rotation matrix
• The composite rotation matrix represents a rotation of an angle α
about Z-axis, followed by a rotation of an angle β about Y-axis,
followed by a rotation of a γ angle about the x-axis.
•

Rcom = R ( X ,  ) R (Y ,  ) R ( Z ,  )

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Cylindrical coordinate system
• Representation of the position in
another coordinate system
• Steps:
• 1. Start from the origin O, move r
units along the XA axis
• 2. Rotate counterclockwise, on ZA
an angle 𝜃
• 3. Move z units along ZA

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Cylindrical coordinate system
• Composite matrix
Tcom = Trans ( Z A , z ) Rot ( Z A ,  )Trans ( X A , r )

1 0 0 0  cos  − sen 0 0  1 0 0 r
0 1 0  
0   sen cos  0  
0  0 1 0 
0
Tcom =
0 0 1 z  0 0 1 0  0 0 1 0
   
0 0 0 1  0 0 0 1  0 0 0 1

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Cylindrical coordinate system

cos  − sen 0 r cos  

 sen cos  
0 r sin  
Tcom =
 0 0 1 z 
 
 0 0 0 1 

• Donde qx = r cos 
q y = r sin 
qy = z
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Spherical coordinate system
• Steps:
• 1. Start from the origin O,
move r units along the ZA axis
• 2. Rotate counterclockwise,
over YA an angle 
• 3. Rotate counterclockwise, on
ZA an angle 

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 Spherical coordinate system

Tcom = Rot ( Z A ,  ) Rot (YA ,  )Trans ( Z A , r )

cos  − sin  0 0   cos  0 sin  0  1 0 0 0

 sin  cos  0  
0  0 1 0  
0  0 1 0 
0
Tcom =
 0 0 1 0   − sin  0 cos  0  0 0 1 z
   
 0 0 0 1  0 0 0 1  0 0 0 1

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Spherical coordinate system

cos  cos  − sin  sin  cos  r sin  cos  

 cos  sin  cos  sin  sin  
r sin  sin  
Tcom =
 − sin  0 cos  r cos  
 
 0 0 0 1 

• Donde
𝑞𝑥 = 𝑟 sin 𝛼 cos 𝛽
𝑞𝑦 = 𝑟 sin 𝛼 sin 𝛽
𝑞𝑧 = 𝑟 cos 𝛼

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Roll, pitch and yaw angles
• Orientation roll, pitch, yaw of the frame of an object

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• Angle Roll turn on X

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• Angle Pitch turn on Y

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• Yaw angle turn on Z

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Composite rotation matrix

A
B Rcom:RPY = Rot ( Z A ,  ) Rot (YA ,  ) Rot ( X A ,  )

c c −c s + s s  c s s + c s  c 
A
Rcom:RPY 
=  c s c c + s s  s 
− s c + c s  s 
B

 − s  c s c c 

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Bibliography

• Barrientos, A., Peñin, L. F., Balaguer, C., & Aracil, R.

(2007). Fundamentos de robótica (Vol. 2, pp. 108-122). Madrid:
McGraw-Hill.

• Craig, J. J. (2006). Robótica, 3ra Edición. sl.

Arquitectura de Robots