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Lecture 3

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Shaheel Akthar
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29 views26 pages

Lecture 3

Very useful documents , this is the maintenance of computer

Uploaded by

Shaheel Akthar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Nagamanikandan Govindan

Robotics Research Center, IIIT Hyderabad.


[email protected]
Robot design, Mobile manipulation, Hybrid robots, Grasper, Redundant and
Underactuated robots, Optimal control, Mechatronic system design
1
Orientation
 Cartesian coordinates (x,y,z) are an easy and natural means of
representing a position in 3D space
 Is there a simple means of representing a 3D orientation?
(analogous to Cartesian coordinates?)
- Not really.

 There are several popular options though:


 Euler angles
 Rotation vectors (axis/angle)
 3x3 matrices
 Quaternions
 and more…

2
Points and Coordinate Frames

3 Robotics Research Center - IIITH


Viewing a Transformation
 Active: Move the object, keep the surrounding space
(coordinates) fixed

 Passive: Keep the object fixed, move the surrounding space


(coordinates)

4
5
Points and Coordinate Frames

6 Robotics Research Center - IIITH


Points and Coordinate Frames

7 Robotics Research Center - IIITH


Points and Coordinate Frames

8 Robotics Research Center - IIITH


Points and Coordinate Frames

9 Robotics Research Center - IIITH


Coordinate Transformation

)
Rearrange
)

10
Planar Rotation

Compare ) and

The coordinates of any point in the frame (B ) can be


written in the frame as

Any vector in the frame (B ) can be written in the


frame as
A B

11
Properties: Rotation Matrix

 is an example of an implicit representation of the C-


space.

 The actual 1D is obtained by applying 3 constraints to 4D


space of matrices.

12
13
3D Rotation

14
3D Rotation

15
3D Rotation

16
17
Rotation: Cosine Transformation

18
3D Rotation Properties

20
Euler’s Theorem

 Euler’s Theorem:
 Any two independent orthonormal coordinate frames can be
related by a sequence of rotations (not more than three)
about coordinate axes, where no two successive rotations may
be about the same axis.

21
Euler Angles
 We can represent an orientation with 3 numbers

 This gives us 12 redundant ways to store an orientation using


Euler angles

 Assuming we limit ourselves to 3 rotations without successive


rotations about the same axis, we could use any of the
following 12 sequences:

XYZ XZY XYX XZX


YXZ YZX YXY YZY
ZXY ZYX ZXZ ZYZ

22
Euler ZYX Convention

23
ZYZ - Euler Angles

25
3D Rotation: Euler Angles to Matrix Conversion

26
3D Rotation: Z-Y-Z Euler angles to Matrix Conversion

27

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