Advanced Kinematics

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Advanced Kinematics
Invers Kinematics – Two Problem

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Advanced Kinematics
Linear and Angular Velocities

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Jacobian Matrix - Calculation Methods

Iterative Propagation
(Velocities or Forces / Torques)
Explicit Derivation

Differentiation the
Velocities Forces / Torques
Forward Kinematics Eqs.
Propagation Propagation

Jacobian Matrix

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Jacobian Matrix - Introduction

In the field of robotics the Jacobian matrix

describe the relationship between
• The joint angle rates (  N ) and the
translation and rotation velocities of the end
effector ( x ).

x  J  
  J 1  x
• The robot joint torques (  ) and the forces F
and moments ( F ) at the robot end effector
(Static Conditions). This relationship is
given by:
  J  T F

F  J   
T 1

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity Propagation – Intuitive Explanation

• Show a demo with the stick like frames

• Three Actions
– The origin of frame B moves as a function of time with respect to the origin
of frame A
– Point Q moves with respect to frame B
– Frame B rotates with respect to frame A along an axis defined by A  B

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity Propagation – Intuitive Explanation

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity Propagation – Link / Joint Abstraction

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity Propagation – Link / Joint Abstraction

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Central Topic -
Simultaneous Linear and Rotational Velocity

A
VQ  f ( BPQ , B
VQ , A
VBORG , A
B , A
BR)

• Vector Form (Method No. 1)

A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
B
PQ
A
B

• Matrix Form (Method No. 2)

A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

• Matrix Formulation – Homogeneous

Transformation Form – Method No. 3

  
 AVQ   BA R  BA R   V   P     R  P   V 
A B A A B


B org Q B B org Q
     
 0   000 0   1  0 0 0 1  0 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Central Topic -
Changing Frame of Representation – Angular Velocity

• Angular Velocity Representation in

A
B
Various Frames
B
PQ
– Vector Form A
C  B  R C
A A
B
B

– Matrix Form A
R  BAR   BAR CBR BA RT
C

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity – Derivation Method No. 1 & 2

Vector Form
Matrix Form

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Linear Velocity

• Linear velocity - The instantaneous rate of change in linear position of a point relative to some frame.

d
A
P (t  t )  A
PQ (t )
VQ  PQ  lim
A A Q

dt t 0 t

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 
A

Definitions - Linear Velocity

• Linear velocity - The instantaneous rate of change in linear position of a point relative to some frame.

Q
A
PQ

d
A
P (t  t )  A
PQ (t )
VQ  PQ  lim
A A Q

dt t 0 t

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Linear Velocity

• The position of point Q in frame {A} is represented by the linear position vector

 A PQx 
 
A
PQ   A PQy 
 A PQz 
 
• The velocity of a point Q relative to frame {A} is represented by the linear velocity vector

A 
 A
PQx   PQx 
A
d A  A  
A
VQ   PQy    PQy 
dt A
 PQz   A PQz 
   

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Linear Velocity - Rigid Body

• Given: Consider a frame {B} attached

to a rigid body whereas frame {A} is
fixed. The orientation of frame {A}
with respect to frame {B} is not
changing as a function of time BA R  0

• Problem: describe the motion of of

the vector B P relative to frame {A}
Q

• Solution: Frame {B} is located

relative to frame {A} by a position
vector A PBORG and the rotation matrix BA R
(assume that the orientation is not
changing in time BA R  0 ) expressing
both components of the velocity in
terms of frame {A} gives A
VQ  AVBORG  A ( BVQ ) AVBORG  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Linear Velocity - Rigid Body

• Given: Consider a frame {B} attached

to a rigid body whereas frame {A} is
fixed. The orientation of frame {A}
with respect to frame {B} is not Q
changing as a function of time BA R  0
B
PQ
• Problem: describe the motion of of
the vector B P relative to frame {A}
Q

• Solution: Frame {B} is located

relative to frame {A} by a position
vector A PBORG and the rotation matrix BA R
(assume that the orientation is not
A
B R  0
changing in time BA R  0 ) expressing
both components of the velocity in
terms of frame {A} gives A
VQ  AVBORG  A ( BVQ ) AVBORG  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Linear Velocity – Translation (No Rotation)- Problem 1
Derivation

• Problem No. 1 – Change in a position of

Point Q
• Conditions
– Point Q is fixed in frame {B}
– Frame {B} translates with respect to
Frame {A}

B
  0
 
 PQ (t  t ) PQ (t )  B B
   
B A A
d B
PQ  lim   V  0
t  0  t  Q
dt
 
 
A
 A PQ (t  t ) APQ (t )  A A
 PQ  lim   VQ  AVQ  AVB ORG
A
d A 
dt t 0  t 
 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Linear Velocity – Translation (No Rotation) – Problem 2
Derivation

• Problem No. 2 – Translation of frame {B}

• Conditions
– Point Q is fixed in frame {B}
– Frame {B} translates with respect to
Frame {A}

A
  0
 
A   
Const  A P (t  t ) AP (t ) 
dA
dt 
PB ORG   lim  B ORG
  t  0  t
B ORG



 A AV 
B ORG  VB ORG  0
A

   
 
A
 B PQ (t  t ) B PQ (t )  A B
   
A
d B
PQ  lim   VQ
dt t  0   t 
 
A
VQ  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Linear Velocity – Translation (No Rotation) – Problem 1&2 -Derivation
Summary

• Problem No. 1 – Change in a position of Point Q

• Problem No. 2 – Translation of frame {B}

B
PQ

A
VQ  AVBORG  A ( BVQ ) AVBORG  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Linear Velocity – Translation – Simultaneous Derivation

A
PQ  APBORG  BPQ

• Differentiate with respect to coordinate system {A}

    P
A A A
d d d
A
PQ  A
PBORG  B B
PQ
Q
dt dt dt
A A
 P  
Q
A A A
  
PBORG  B PQ

A A
 V   V
Q
A A
BORG   V 
A B
Q

A
VQ  AVBORG  A ( BVQ ) AVBORG  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Linear & Angular Velocities - Frames

• When describing the velocity (linear or angular) of an object, there are two
important frames that are being used:

– Represented Frame (Reference Frame) : e.g. [A]

This is the frame used to represent (express) the object’s velocity.

– Computed Frame: e.g. [B]

This is the frame in which the velocity is measured (differentiate the position).

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Frame - Velocity

• As with any vector, a velocity vector may be described in terms of any frame, and this frame of reference is
noted with a leading superscript.
• A velocity vector computed in frame {B} and represented in frame {A} would be written

Represented
(Reference Frame) -– Projected on
Represente d
d Computed
Represente d Computed
( VQ )  PQ
dt
Computed
(Measured) - Differentiate with respect to

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Frame - Linear Velocity

• We can always remove the outer, leading superscript by explicitly including the rotation matrix which
accomplishes the change in the reference frame

( VQ ) BAR BVQ
A B

• Note that in the general case ( VQ )  BAR BVQ  AVQ

A B
because BA R may be time-verging A
B R  0

• If the calculated velocity is written in terms of of the frame of differentiation the result could be indicated by a
single leading superscript.
A A
( VQ ) AVQ

• In a similar fashion when the angular velocity is expresses and measured as a vector

( C ) BAR B C
A B

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Frames - Linear Velocity - Example

• Given: The driver of the car maintains a speed of 100 km/h (as shown to the driver by the car’s
speedometer).

• Problem: Express the velocities

C C
V   V  V   V 
C
W W
C
W C
C
C W
C
in each section of the road A, B, C,
D, E, F where {C} - Car frame, and {W} - World frame

Represented
C
(Reference Frame)

y Computed
B (Measured)
V 
A x D
{C}  
y

x
{W}
E
Object Frame
F

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Frames - Linear Velocity - Example

B
A D

Models of Robot Manipulation - EE 543 - Department of Electrical Engineering - University of Washington

 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Frames - Linear Velocity - Example

 c   s 0 
B R  Rot ( z
A
ˆ ,  )   s c  0 
 
 0 0 1
0.707  0.707 0.000
Rot ( zˆ,45o )  0.707 0.707 0.000
 
0.000 0.000 1.000
 0.707 0.707 0.000
Rot ( zˆ,45o )   0.707 0.707 0.000
 
 0.000 0.000 1.000
 0  1 0  0 1 0
Rot ( zˆ,90o )  1 0 0 Rot ( ˆ
z ,  90 o
)    1 0 0
   
0 0 1  0 0 1

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Frames - Linear Velocity - Example

( VQ ) BAR BVQ
A B

• A
B R  0 is not time-varying (in this example)

C C
( VC )CC R CVC  I [0]  [0]

W W
( VC )WW RW VC  I WVC

W C
( VC )WC R CVC WC R[0]  [0]

( VC )WCRW VC
C W

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Frames - Linear Velocity - Example

Velocity
Road Section V 
C C
C 
W W
VC  V 
W C
C 
C W
VC 
C
A A B D
E

C
B A B D
E

C
C A B D
E

C
D A B D
E

C
E A B D
E

C
F A B D
E

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Frames - Linear Velocity - Example

Velocity
Road Section V 
C C
C 
W W
VC  V 
W C
C 
C W
VC 
C
A A B D
E

C
B A B D
E

C
C A B D
E

C
D A B D
E

C
E A B D
E

C
F A B D
E

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Frames - Linear Velocity - Example

Velocity
Road Section V 
C C
C 
W W
VC  V 
W C
C 
C W
VC 
C
A A B D
E

C
B A B D
E

C
C A B D
E

C
D A B D
E

C
E A B D
E

C
F A B D
E

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Frames - Linear Velocity - Example

Velocity
Road Section V 
C C
C 
W W
VC  V 
W C
C 
C W
VC 
C
A A B D
E

C
B A B D
E

C
C A B D
E

C
D A B D
E

C
E A B D
E

C
F A B D
E

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 
A

Frames - Linear Velocity - Example

Velocity
Road Section V 
C C
C 
W W
VC  W
V 
C
C
C W
 VC 
A
C
A B D
E
B
C
A B D
E
C
C
A B D
E

D C
A B D
E

C
E A B D
E

C
F A B D
E

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Linear Velocity - Free Vector

• Linear velocity vectors are insensitive to shifts in origin.

• Consider the following example:

{A} {B}

{C}

• The velocity of the object in {C} relative to both {A} and {B} is the same, that is

A
VC  BVC

• As long as {A} and {B} remain fixed relative to each other (translational but not rotational), then the velocity
vector remains unchanged (that is, a free vector).

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body - Intuitive Approach

A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body

• Given: Consider a frame {B} attached

to a rigid body whereas frame {A} is
fixed. The vector B PQ is constant as
view from frame {B} BV  0
Q

• Problem: describe the velocity of the B

Q
PQ
vector B PQ representing the the point
Q relative to frame {A}

• Solution: Even though the vector B P

Q
is constant as view from frame {B} it
is clear that point Q will have a
velocity as seen from frame {A} due
B
VQ  0
to the rotational velocity A 
B
A
VBORG  0

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body - Intuitive Approach

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body - Intuitive Approach

• The figure shows to instants of time

as the vector PQ rotates around A  B
A

This is what an observer in frame {A}

would observe.

• The Magnitude of the differential

change is
A
PQ sin

 PQ 
A
 A
 B t  A
PQ sin   APQ
A
PQ (t  t )
A
PQ sin
A
PQ (t )
• Using a vector cross product we get

 APQ
 AVQ  A  B  APQ
t

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body - Intuitive Approach

• Rotation in 2D

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Rigid Body - Intuitive Approach

• In the general case, the vector Q may also be changing with respect to the frame {B}. Adding this component
we get.

VQ 
A
 V 
A B
Q
A
 B  A PQ

• Using the rotation matrix to remove the dual-superscript, and since the description of at any instance is
A A B
we get PQ B R PQ

A
VQ  BAR BVQ  A  B BAR BPQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Angular Velocity

• Angular Velocity: The instantaneous rate of change in the orientation of one

frame relative to another.

Point - 1D
Linear Velocity

Plane - 2D / Body - 3D

Angular Velocity Plane - 2D / Body - 3D

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Angular Velocity

• Just as there are many ways to represent orientation (Euler Angles, Roll-Pitch-Yaw Angles, Rotation
Matrices, etc.) there are also many ways to represent the rate of change in orientation.

Angular Velocity
Representation

Angular Velocity Angular Velocity

Vector Matrix

• The angular velocity vector is convenient to use because it has an easy to grasp physical meaning.
However, the matrix form is useful when performing algebraic manipulations.

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Angular Velocity - Vector

• Angular Velocity Vector: A vector whose direction is the instantaneous axis of rotation of one frame relative
to another and whose magnitude is the rate of rotation about that axis.

 x 
A
 B   y 
 
  z 

The angular velocity vector  B describes the instantaneous change of rotation of frame {B} relative to
A
•
frame {A}

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Angular Velocity - Matrix

• Angular Velocity Matrix:

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Definitions - Angular Velocity - Matrix

• The rotation matrix ( A

) defines the
BR
orientation of frame {B} relative to frame {A}. Specifically, the columns
A
of R
are the unit vectors of {B} represented in B{A}.

A
 
A B
B R   Px    P  
B
y
B
Pz 

 
• If we look at the derivative of the rotation matrix, the columns will be the velocity of each unit vector of {B}
relative to {A}:

A
 
A 
B R 
d
dt
    V   
A
B R   BV
 x
B
y
B
Vz 

 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 
A

Definitions - Angular Velocity - Matrix

• The relationship between the rotation matrix

A
B R and the derivative of the rotation matrix A
B R can be
expressed as follows:

A
B R  BAR  BA R
A A
   
  V   
 BV
 x
B
y
B
Vz   BAR 

   P  
 BP
 x
B
y
B
Pz 

   
• where R the angular velocity matrix
is definedAas
B 

 0  z y   x 
 
A 
R   z 0  x  A
 B   y 
B   
  y x 0    z 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Angular Velocity - Matrix & Vector Forms

Matrix Form Vector Form

 0  z y   x 
 
Definition A 
R   z 0  x  A
 B   y 
B 
 
  y x 0    z 

Multiply by Constant k  A
B R   k 
A
B

 x  x
Multiply by Vector
 A   
B R  y 
A
B   y
 
 z   z 

Multiply by Matrix  R 
s
t
A
B  R  R 
s
t
T
 R 
s
t
A
B 
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 VQ  AVBORG  BAR BVQ  A  B BAR BPQ
A A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 
Simultaneous Linear and Rotational Velocity -
Vector Versus Matrix Representation
Vector Form Matrix Form
A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

i j k
  P  x y  z  i ( y Pz   z Py )  j ( x Pz   z Px )  k ( x Py   y Px )
Px Py Pz

 0  z  y   Px     z Py   y Pz 
   
R  P    z 0   x   Py     z Px   x Pz 
  y x 0   Pz    y Px   x Py 


Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Simultaneous Linear and Rotational Velocity

• The final results for the derivative of a vector in a moving frame (linear and rotation velocities) as seen from a
stationary frame

• Vector Form
B
PQ
A
B
A
VQ  VBORG  R VQ   B  R PQ
A A
B
B A A
B
B

• Matrix Form

A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Velocity – Derivation Method No. 3

Homogeneous Transformation Form

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Changing Frame of Representation - Linear Velocity

• We have already used the homogeneous

transform matrix to compute the location of
position vectors in other frames:

A
PQ  ABT BPQ A
B

B
• To compute the relationship between PQ
velocity vectors in different frames, we will
take the derivative:

d A
dt
 
PQ 
d A B
dt
BT PQ  

A
PQ  ABT BPQ  ABT BPQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
PQ  ABT BPQ  ABT BPQ
Changing Frame of Representation - Linear Velocity

• Recall that

 


 R
A
P 
A 

BT 
A B B org

 
 
0 0 0 1 

• so that the derivative is

     
A  d


 R
A
P 
A  

 R 
A
 P 
A  
  
 A
R  BA R  V 
A 

BT 
B B org B B org B B org

dt      
     
0 0 0 1  0 0 0 0  0 0 0 0 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
PQ  ABT BPQ  ABT BPQ
Changing Frame of Representation - Linear Velocity

 
A 

A  A
B R B R

 A
VB org 

  
BT 
 
 
0 0 0 0 
• Substitute the previous results into the original equation A PQ  ABT BPQ  ABT BPQ we get

  
 AVQ   BA R  BA R   V   P     R  P   V 
A B A A B


B org Q B B org Q
     
 0   000 0  1  0 0 0 1  0 
• This expression is equivalent to the following three-part expression:

A
VQ  BAR   A
B 
R BPQ  AVB org  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Changing Frame of Representation - Linear Velocity

A
VQ  BAR   A
B 
R BPQ  AVB org  BAR BVQ

• Converting from matrix to vector form yields

A
VQ  A  B   A
B 
R BPQ  AVB org  BAR BVQ

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Angular Velocity –
Changing Frame of Representation

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
C  A B  BAR B C
A
C R  BAR   BAR CBR BA RT
Angular Velocity

• Frame {C} is rotated around frame {B} by B

C
• Frame {B} is rotated around frame {A} by A
B
• Given B
C A
B

• Find
A
C

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 A
C  A B  BAR B C
A
C R  BAR   BAR CBR BA RT
Changing Frame of Representation - Angular Velocity

• We use rotation matrices to represent angular position so that we can compute the
angular position of {C} in {A} if we know the angular position of {C} in {B} and {B} in
{A} by
A
C R  BARCBR

• To derive the relationship describing how angular velocity propagates between

frames, we will take the derivative
A
C R  BAR CBR  BARCBR
• Substituting the angular velocity matrixes
A
B R  BAR  BA R B
C R CBR CB R A
C R CAR CA R

• we find
A
C R CA R  BAR BA RCBR  BARCBR CB R
A
C R CA R BAR CA R BAR CBR CB R

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Changing Frame of Representation - Angular Velocity

• Post-multiplying both sides by A

C R T ,which for rotation matrices, is equivalent to A
C R 1

A
C R CA RCART  BAR CA RCART  BARCBR CB RCART

A
C R  BAR   BAR CBR BA RT

• The above equation provides the relationship for changing the frame of representation of angular velocity
matrices.

• The vector form is given by

A
C  A B  BAR B C

• To summarize, the angular velocities of frames may be added as long as they are expressed in the same
frame.

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Summary – Changing Frame of Representation

• Linear and Rotational Velocity A

B
– Vector Form

A
VQ  AVBORG  BAR BVQ  A  B BAR BPQ
B
PQ

– Matrix Form

A
VQ  AVBORG  BAR BVQ  BAR  BA R BPQ 

• Angular Velocity

– Vector Form A
C  A B  BAR B C

– Matrix Form A
C R  BAR   BAR CBR BA RT

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Linear Algebra - Review

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 1/

• Inverse of Matrix A exists if and only if the determinant of A is non-zero.

A1 Exists if and only if

Det ( A)  A  0

• If the determinant of A is equal to zero, then the matrix A is a singular matrix

Det ( A)  A  0

A Singular

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 2/

• The rank of the matrix A is the size of the largest squared Matrix S for which

Det ( S )  0

 2  1  2  1
• Example 1 - A  AS   A  S 3 Rank( A)  2
  1 2   1 2 

1 1 1 1
1 1 1 1
• Example 2 - A S  1 S 1 Rank( A)  1
1 1 1 1
 
1 1 1 1

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 3/

• If two rows or columns of matrix A are equal or related by a constant, then

Det ( A)  0
• Example
 2 0  1
A   6  3  3
10  6  5

3 3 6 3 6 3
det( A)  A  2 0 1  606  0
6 5 10  5 10  6

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 4/

• Eigenvalues

AX  X

( A  I ) X  0

• Eigenvalues are the roots of the polynomial

Det ( A  I )

• If X  0 to the characteristic equation

each solution  has a corresponding Eigenvector
(Eigenvalue)

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 4/

• Wikipedai - https://en.wikipedia.org/wiki/Eigenvalues_and_eigenvectors

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 4/

2 1 
A 
1 2 
2   1  X1 
( A  I ) X   0
 1 2     X 2 

2 1
Det ( A  I )   2  4  3  0
1 2

1  1
2  3

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 4/

1  1

1 1  X 1  1
1 1  X   0 X  
  2   1

2  3

 1 1   X 1  1
X  
 1  1  X   0 1
  2 

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 5/

• Any singular matrix ( Detat

) has )  0one Eigenvalue equal to zero
( Aleast

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 6/

• If A is non-singular ( Det
), and 
( A)  0is an eigenvalue of A with corresponding to eigenvector X,
then

A1 X  1 X

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 7/

• If the n x n matrix A is of full rank (that is, Rank (A) = n), then the only solution to
AX  0
is the trivial one

X 0
• If A is of less than full rank (that is Rank (A) < n), then there are n-r linearly independent (orthogonal)
solutions

xj 0 j nr
for which

Ax j  0

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
 Brief Linear Algebra Review - 8/

• If A is square, then A and AT have the same eigenvalues

Instructor: Jacob Rosen

Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA