Lecture 3

Activities
 Description of a position, Orientation
How to represent vector P in frame A?
A point P in space : 3 coordinates relative to a reference frame

𝑃𝑃𝑥𝑥
𝐴𝐴
P 𝑃𝑃 = 𝑃𝑃𝑦𝑦
𝑃𝑃𝑧𝑧
Activity 1
Describe and draw the position of point P relative to coordinate
frame {A} if point P is positioned at: x, y, z of frame {A}.

x y z
3 5 1
2 2 2
4 6 10
Description of a position, Orientation

ROTATION MATRIX
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13
𝐴𝐴 𝑟𝑟
𝐵𝐵𝑅𝑅 = 21
𝑟𝑟22 𝑟𝑟23
P 𝑟𝑟31 𝑟𝑟32 𝑟𝑟33

cos 𝑋𝑋�𝐵𝐵 , 𝑋𝑋�𝐴𝐴 cos 𝑌𝑌�𝐵𝐵 , 𝑋𝑋�𝐴𝐴 cos 𝑍𝑍�𝐵𝐵 , 𝑋𝑋�𝐴𝐴

1 0 0
𝐴𝐴
𝐵𝐵 𝑅𝑅𝑥𝑥 𝛾𝛾 = 0 cos 𝛾𝛾 sin 𝛾𝛾
0 sin 𝛾𝛾 cos 𝛾𝛾

cos 𝛽𝛽 0 sin 𝛽𝛽
𝐴𝐴 0 1 0
𝐵𝐵 𝑅𝑅𝑦𝑦 𝛽𝛽 =
− sin 𝛽𝛽 0 cos 𝛽𝛽

cos 𝛼𝛼 − sin 𝛼𝛼 0
𝐴𝐴
𝐵𝐵 𝑅𝑅𝑧𝑧 𝛼𝛼 = sin 𝛼𝛼 cos 𝛼𝛼 0
0 0 1
Please notice
• The 3 rotation matrices about x, y, z respectively.
• The sign is place differently in the case of y-rotation
Activity 2
Find the rotation matrix of point P. If its frame {B} is rotated α about the k-
axis relative to frame {A}. Please draw it.

α k α k
45° x 20° x
20° y 65° y
65° z 45° z
 Frames
Define the position and
orientation of an object
relative to coordinate
frame {A}.
• A new frame {B} on the
object is required.
• Homogeneous
Transformation matrix
𝐴𝐴 𝐴𝐴
𝐵𝐵 = 𝐵𝐵 𝑅𝑅, 𝑃𝑃𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13 𝑃𝑃𝑥𝑥
𝑟𝑟21 𝑟𝑟22 𝑟𝑟23 𝑃𝑃𝑦𝑦
𝐵𝐵 =
𝑟𝑟31 𝑟𝑟23 𝑟𝑟33 𝑃𝑃𝑧𝑧
0 0 0 1
Activity 3
Describe Frame {B} relative to frame {A} if the origin of {B} is
positioned at x, y, and z relative to frame {A} and {B} is rotated α
about the k-axis relative to frame {A}.

x y z α k
3 5 1 45° x
2 2 2 20° y
4 6 10 65° z
Mappings
Change the description of a
point from being relative to a
frame to being relative to
another frame
Translational Mapping
𝐴𝐴
𝑃𝑃 = 𝐵𝐵𝑃𝑃 + 𝐴𝐴𝑃𝑃𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵
 Activity 4
Frame{B} is translated x units in XA and y units in YA. Find AP if BP =[x1 y1 z1]T
Please Draw IT!
BP

x y x1 y1 z1
3 5 3 7 0
2 2 2 2 2
4 6 4 6 10
Rotational Mapping

𝐴𝐴
𝑃𝑃 = 𝐴𝐴 𝐵𝐵
𝐵𝐵𝑅𝑅 𝑃𝑃
Activity 5
Frame {B} is rotated relative to frame{A} about k-axis by α.
𝑥𝑥
Find 𝐵𝐵𝐴𝐴𝑅𝑅, then Find 𝐴𝐴𝑃𝑃 if 𝐵𝐵𝑃𝑃 = 𝑦𝑦
𝑧𝑧

x y z α k
4 5 1 45° x
2 4 2 20° y
4 6 2 65° z
Mappings involving general frames

𝐴𝐴 𝐴𝐴 𝐴𝐴 𝐵𝐵
𝑃𝑃 = 𝐵𝐵𝑅𝑅 𝑃𝑃𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵 𝑃𝑃
1 0 0 0 1 1
Activity 6
Frame {B} is rotated relative to frame{A} about k-axis by α. Then
translated x units in XA and y units in YA. Define frame {B}
𝑥𝑥
relative to frame {A} Find 𝐵𝐵𝐴𝐴𝑇𝑇, then Find 𝐴𝐴𝑃𝑃 if 𝐵𝐵𝑃𝑃 = 𝑦𝑦 . Please
𝑧𝑧
Draw the mapping.

x y z α k
4 2 1 45° x
2 4 3 20° y
3 5 2 35° z
Operator
• Used to map points to other points in a frames.
• can also be interpreted as operators that translate points,
rotate vectors, or do both.
Translational operators
Activity 7
Vector 𝑃𝑃1 is translated x units in XA and y unites in YA. Find the new resulting
𝐴𝐴
𝑥𝑥1
vector 𝐴𝐴𝑃𝑃2 if the original vector 𝐴𝐴𝑃𝑃1 = 𝑦𝑦1 .
𝑧𝑧1

x y x1 y1 z1
2 -5 4 2 1
1 2 2 4 3
3 1 3 5 2
Rotational operators

Example :
The operator that rotates about the Z axis by 0
Activity 8
Vector 𝑃𝑃1 is rotated αα about kA axis. Find the new resulting vector 𝐴𝐴𝑃𝑃2 if the
𝐴𝐴
𝑥𝑥1
original vector 𝐴𝐴𝑃𝑃1 = 𝑦𝑦1 .
𝑧𝑧1

α kA x1 y1 z1
45° x 4 2 1
20° y 2 4 3
35° z 3 5 2
Transformation operators
• The transform that rotates by R and translates by Q is the same as
the transform that describes afraine rotated by Rand translated by Q
relative to the reference frame.
Example of operators
Vector 𝐴𝐴𝑃𝑃1 is rotated relative to frame{A} about k-axis by α degree, and translated x
units in XA and y units in YA. Define the transformation matrix (T), then find vector
𝑥𝑥1
𝐴𝐴
𝑃𝑃2 if the original vector 𝐴𝐴𝑃𝑃1 = 𝑦𝑦1 .
𝑧𝑧1

α k x y x1 y1 z1
45° x 2 -5 4 2 1
20° y 1 2 2 4 3
35° z 3 1 3 5 2