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Robotics: Representing Position and Orientation

This document discusses different methods for representing the position and orientation of objects in robotics, including: 1) Coordinate frames which define a point's position using homogeneous transformations between frames; 2) Frame transformations which combine transformations between frames using operators; 3) Methods for representing 3D orientation including rotation matrices, Euler angles, quaternions, and axis-angle representations; 4) Combining translation and rotation using homogeneous transformation matrices and quaternion-vector pairs.

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173 views20 pages

Robotics: Representing Position and Orientation

This document discusses different methods for representing the position and orientation of objects in robotics, including: 1) Coordinate frames which define a point's position using homogeneous transformations between frames; 2) Frame transformations which combine transformations between frames using operators; 3) Methods for representing 3D orientation including rotation matrices, Euler angles, quaternions, and axis-angle representations; 4) Combining translation and rotation using homogeneous transformation matrices and quaternion-vector pairs.

Uploaded by

BagusAdiwiluhung
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Robotics

Representing Position and Orientation

Coordinate Frame

is the point coordinate in frame A.


is the frame transformation from frame A to B.

Frame Transformation
=
=

Frame Transformation
=
=
=

Frame Transformation
=
=
=
0=0=
= = 0

Frame Transformation
=
=
=
0=0=
= = 0
1 2 2 1

???

Representing Pose in 3-D


Rotation
Rotation Matrix

Orthonormal Rotation Matrix


Three Angles Representation/Euler Angles Sequence
Two Vector Representation
Rotation about Arbitrary Axis/Axis Angle

Quaternion = hyper-complex vector

Translation = vector

Rotation Matrix
General Notation

=
0=0=

= = 0
1 2 2 1

Matrix Operation

1 = =

1 = 1 =
1 2 2 1

Orthonormal Rotation
Expanded version of 2-D rotation matrix.

Three-Angles/Euler Sequence
Sequence of three successive orthonormal rotations without two
successive rotations about the same axis can represent all
possible orientation.
With repetition: XYX,XZX,YXY,YZY,ZXZ,ZYZ Eulerian
W/o repetition: XYZ,XZY,YXZ,YZX,ZXY,ZYX Cardanian
Example X-Y'-Z'' sequence:

Two Vector Representation


Two orthogonal unit vectors (two defined axes of a target) in
reference frame = , , and = , , are known.

Calculate = .
can be rearranged as
needed


Rotation Matrix is reftrgt = .

Same in principle with Direction Cosine Matrix.

Arbitrary Rotation Axis/Axis-Angle


Finding rotation axis: = .
Eigenvector & Eigenvalue: = .
Eigenvalues are guaranteed to be 1, cos sin because of
the orthogonality of .

Rotation axis: at = 1.
Rotation angle: when = cos sin .

Quaternion
= + = , < >
= + + +

=
= = 1
= =
= =
= =

1 2 = 1 2 1 2 , < 1 2 + 2 1 + 1 2 >
= , < >

Relation with axis-angle: = cos 2 , = sin 2

Quaternion (ctd)
General Notation

Quaternion Operation

= =
= 0, < >

=
0=0=

= =

= = 0

= 1, < >
= =

1 2 2 1

1 2 2 1

Combining Translation and Rotation


Quaternion Vector Pair
Homogeneous Transformation Matrix

Combining Translation and Rotation


Quaternion Vector Pair

Homogeneous Transformation Matrix

Combining Translation and Rotation


Quaternion Vector Pair
Homogeneous Transformation Matrix

13
1


or =
1
1

1
1 2 =
13

1
=
13

1 2 2
1 2
=
1 13 1
13
1

=
1
13
1

1 + 1 2
1

Conversion

ZYZ sequence

XYZ sequence

Quaternion class does not contain


translation information

References and Further Readings


Corke, P., Robotics, Vision and Control, Springer-Verlag, 2013.
Kuipers, J. B., Quaternions and Rotation Sequences, Princeton
University Press, 1999.
Wertz, J. R., Spacecraft Attitude Determination and Control,
Kluwer Academic Publishers, 1990.
Wikipedia, Rotation Formalisms in Three Dimensions.

Home Exercise
1.

Use tranimate function from the Toolbox to demonstrate how a homogeneous

transformation matrix =
work. Which statement is more accurate:
13 1
1. The frame is translated first by and then rotated by , or
2. the frame is rotated by first and then translated by .
1

2.

Prove that the inverse of a homogeneous transformation matrix is =


13


. Explanation from geometric interpretation is enough as proof.
13
1

3.

What is the difference between Cardanian and Eulerian sequence in term of


singularities/gimbal lock problem?

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