ROBOTICS

REPRESENTATION OF
FRAMES
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VECTORS

Vectors delineate the movement from point A to point B and can be

defined as an entity with a designation, such as vector a.

If a vector of length R with a pin joint is rotated with a fixed point, then
there will be two velocities.

1- Rotation Velocity(𝑟⃖)
2- Linear Velocity (𝑣⃖)

If a vector of length L with a sliding/linear joint is rotated with a fixed

point, then there will be only one velocity.

1- Linear Velocity (𝑣⃖)

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 ROTATION MATRIX
A rotation matrix is a mathematical representation of a
rotation in 3D space.
It is a 3x3 matrix that describes the rotation of an
object or a coordinate system around a specific axis or
axes.
A rotation matrix can be thought of as a transformation Y and Z axis rotates around X axis
that takes a point or a vector in one coordinate system
and maps it to a new point or vector in a rotated
coordinate system.
X and Z axis rotates around Y axis
The rotation matrix is a way to represent this transformation mathematically.
Rotation matrices have many applications in computer graphics, robotics,
computer vision, and other fields where 3D transformations are necessary.

They are used to perform tasks such as:- Rotating objects in 3D space: X and Y axis rotates around Z axis
- Transforming coordinates between different coordinate systems
- Performing camera rotations and transformations
- Simulating rigid body dynamics
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PROPERTIES OF ROTATION MATRIX

Some common properties of rotation matrices include:-

Orthogonality: Rotation matrices are orthogonal,

meaning that their transpose is equal to their inverse.
Determinant: The determinant of a rotation matrix is
always 1. Y and Z axis rotates around X axis
Rotation matrices can be composed to represent
multiple rotations.

X and Z axis rotates around Y axis

X and Y axis rotates around Z axis

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 FORWARD AND INVERSE KINEMATIC

Kinematics:
Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion.
The robot kinematics can be divided into two categories/types.

Forward Kinematics (FK):

Finding the goal position of end effector by given the joint angles.

Inverse Kinematics (IK):

Finding the joint angles for the robot arm for given a goal position of end effector

FORWARD AND INVERSE KINEMATIC

Direct and inverse geometric models give the location of the end-effector (or the tool) in terms of the
joint coordinates of the mechanism and vice versa.

Direct and inverse kinematic models give the velocity of the end-effector in terms of the joint velocities
and vice versa.

Dynamic models give the relations between the torques or forces of the actuators, and the positions,
velocities, and accelerations of the joints.

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 MATRIX REPRESENTATION

Matrices can be used to represent points, vectors, frames,

translations, rotations, transformations, as well as objects
and other kinematic elements.

Representation of a Point in Space:

A point P in space (Figure-1) can be represented by its
three coordinates relative to a reference frame as:

Representation of a Vector in Space:

A vector P in Figure-2 can be represented by three
coordinates of its tail and its head. If the vector starts at
point A and ends at point B, then it can be represented by:

MATRIX REPRESENTATION

These three components can also be written in matrix form, as in Equation:

The distance (length or magnitude) between 2 points in 3-dimensional space is:

The magnitude of the vector is given by:

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 MATRIX REPRESENTATION

This representation can be slightly modified to also include a scale

factor w such that if Px, Py, and Pz are divided by w, they will yield ax,
by, and cz.

Therefore, the vector can be written as:

w may be any number and, as it changes, it can change the overall size
of the vector.

This is known as scaling or zooming function/factor.

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MATRIX REPRESENTATION

When w is 1, the size of these components remains unchanged. However,

if w = 0, then ax, by, and cz will be infinity.
The direction vector is represented by the three components of the vector.
This means that a direction vector (point address) can be represented by a
scale factor of w = 0, where the length is not important,

Problem # 1:
A vector is described as P =3i + 5j + 2k. Express the vector in matrix form:
(a) With a scale factor of 2.
(b) If it were to describe a direction as a unit vector.

Problem # 2:
A vector p is 5 units long and is in the direction of a unit vector q described
below. Express the vector in matrix form.
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 REPRESENTATION OF A FRAME AT THE
ORIGIN OF A FIXED REFERENCE FRAME

A frame is generally represented by three mutually orthogonal axes

(such as x, y, and z).

There is more than one frame at any given time.

A set of axes x, y, and z to represent the fixed Universe/word reference
frame Fx;y;z and it is also known as zero frame F0.

A set of axes n, o, and a to represent joint (moving) frame Fn;o;a

relative to the reference/word frame. it is also known as first frame F1.

The frame at each joint will be write as F0, F1, F2, F3, F4 etc.

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REPRESENTATION OF A FRAME AT THE

ORIGIN OF A FIXED REFERENCE FRAME
Origin of both frames
A set of axes x, y, and z to represent the fixed Universe/word reference on same point.
frame Fx;y;z and it is also known as zero frame F0.

A set of axes n, o, and a to represent joint (moving) frame Fn;o;a relative to

the reference/word frame. it is also known as first frame F1.

The frame at each joint will be write as F0, F1, F2, F3, F4 etc.

Representation of frames for (Fx0y0z0 and Fx1y1z1), (Fxyz and Fnoa) are as:

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 REPRESENTATION OF A FRAME AT THE
ORIGIN OF A FIXED REFERENCE FRAME

X and Y axis rotates around Z axis

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REPRESENTATION OF A FRAME AT THE

ORIGIN OF A FIXED REFERENCE FRAME

Y and Z axis rotates around X axis

X and Z axis rotates around Y axis

X and Y axis rotates around Z axis

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 Find the location of point-P and draw workspace

1- Figure-1 with two links, θ=45o and β=20o

2- Figure-2 with three links, θ=45o , d= 0 to 5 and β=30o

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REPRESENTATION OF A FRAME IN A FRAME

Origin of both frames
To fully describe a frame relative to another frame, both the location are at some distance
of its origin and the directions of its axes must be specified.

Its location relative to the reference frame is described by a vector-P

between the origin of the frame and the origin of the reference frame.

Therefore, the frame can be expressed by three vectors describing its

directional unit vectors and a fourth vector describing its location as:

The first three (3 X 3) vectors are directional vectors

with w = 0.

The fourth vector (1 X 3) with w = 1 represents the

location of the origin of the frame relative to the
reference frame.

The length of vector p is important. Consequently, we

use a scale factor of 1 16

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 Representation of Combined Transformations
Problem:
A point p(7,3,1)T is attached to a frame Fnoa and is subjected to the following transformations.
Find the coordinates of the point relative to the reference frame at
the conclusion of transformations.
1. Rotation of 90° about the z-axis,
2. Followed by a rotation of 90° about the y-axis,
3. Followed by a translation of [4,-3,7].

Solution:
The matrix equation representing the transformation is:
1-

2-

3-

OR
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REPRESENTATION OF A FRAME IN A FRAME

Example: Origin of both frames
are at some distance
The frame F shown in Figure is located at 3,5,7 units, with its n-
axis parallel to x, its o-axis at 45° relative to the y-axis, and its a-
axis at 45° relative to the z-axis. The frame can be described by:

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 BOOKS

1- Introduction to Robotics: Analysis, Control, Applications

By Saeed Benjamin Niku
Latest edition

2- Introduction to Robotics Mechanics and Control

By John J. Craig
3rd Edition

3- Theory of Applied Robotics

Kinematics, Dynamics and Control,
By Reza N. Jazar
2nd edition

4- Robotics, Vision and Control,

Fundamental Algorithms in Matlab
By Peter Corke
2nd Edition
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