ME G 511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao

Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G 511
MAPPING OF TRANSLATED FRAMES
Mapping between translated frames
 Consider two frames {𝟏} and {𝟐} with origins 𝑶𝟏 and
𝑶𝟐 such that the axes of frame {𝟏} are parallel to axes of
𝑷
frame {𝟐} as shown in figure 4.
𝑾
𝒁
 A point ′𝑷′ in
space can be 𝒘
ෝ
{𝟐} ෝ
𝒗
expressed as 𝑶𝟐
𝑽
{𝟏} ෝ
𝒖
vectors 𝑶𝟏 𝑷 and 𝒛ො 𝑼
𝑶𝟐 𝑷 with respect 𝑶𝟏 𝒀
to the two frames ෝ
𝒙 ෝ
𝒚

{𝟏} and {𝟐}

𝑿
respectively.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 A point ′𝑷′ in space can be expressed as vectors 𝑶𝟏 𝑷 and
𝑶𝟐 𝑷 with respect to the two frames {𝟏} and {𝟐}
respectively.

 𝟏𝑷 = 𝟏𝑷𝒙 𝒙
ෝ + 𝟏𝑷𝒚 𝒚
ෝ + 𝟏𝑷𝒛 𝒛ො

 𝟐𝑷 = 𝟐𝒑𝒖 𝒖
ෝ + 𝟐𝒑𝒗 𝒗
ෝ + 𝟐𝒑𝒘 𝒘
ෝ

Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The two vectors are related as

 𝑶𝟏 𝑷 = 𝑶𝟏 𝑶𝟐 + 𝑶𝟐 𝑷

 Or 𝟏𝑷 = 𝟐𝑷 + 𝟏𝑫𝟐

 Where 𝟏𝑫𝟐 = 𝑶𝟏 𝑶𝟐
is the translation of
origin of frame {𝟐}
with respect to frame
{𝟏} .

Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑻
𝟐𝑷 = 𝟐𝒑𝒖 , 𝟐𝒑𝒗 , 𝟐𝒑𝒘
𝟐𝑷
 𝟐𝑷 = 𝟐𝒑 𝒖 𝒖
ෝ + 𝟐𝒑 𝒗 𝒗
ෝ + 𝟐𝒑 𝒘 𝒘
ෝ 𝟏𝑷

 And 𝟏𝑫𝟐 = 𝒅𝒙 𝒙
ෝ + 𝒅𝒚 𝒚
ෝ + 𝒅𝒛 𝒛ො 𝟏𝑫𝟐

 Or 𝟏𝑷 = 𝟏𝑫𝟐 + 𝟐𝑷

 𝟏𝑷 = 𝒅𝒙 ෝ ෝ + 𝒅𝒛 𝒛ො + 𝟐𝒑𝒖 𝒖
𝒙 + 𝒅𝒚 𝒚 ෝ + 𝟐𝒑 𝒗 𝒗
ෝ + 𝟐𝒑 𝒘 𝒘
ෝ

 𝟏𝑷 = 𝒅𝒙 ෝ ෝ + 𝒅𝒛 𝒛ො + 𝟐𝒑𝒖 ෝ
𝒙 + 𝒅𝒚 𝒚 ෝ + 𝟐𝒑𝒘 𝒛ො
𝒙 + 𝟐𝒑 𝒗 𝒚
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏𝑷 = 𝟐𝒑 𝒖 ෝ ෝ + 𝟐𝒑𝒘 𝒛ො + 𝒅𝒙 ෝ
𝒙 + 𝟐𝒑 𝒗 𝒚 ෝ + 𝒅𝒛 𝒛ො
𝒙 + 𝒅𝒚 𝒚

 𝟏𝑷 = 𝟐𝒑𝒖 + 𝒅𝒙 ෝ ෝ + 𝟐𝒑𝒘 + 𝒅𝒛 𝒛ො
𝒙 + 𝟐𝒑𝒗 + 𝒅𝒚 𝒚

 Also 𝟏𝑷 = 𝟏𝑷𝒙 ෝ ෝ + 𝟏𝑷 𝒛ො
𝒙 + 𝟏𝑷𝒚 𝒚 𝒛

 Hence 𝟏𝑷𝒙 = 𝟐𝒑𝒖 + 𝒅𝒙 ;

 𝟏𝑷𝒚 = 𝟐𝒑𝒗 + 𝒅𝒚 ;
𝒅𝒛

 𝟏𝑷𝒛 = 𝟐𝒑𝒘 + 𝒅𝒛 ; 𝒅𝒚 𝒅𝒙

Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏𝒑𝒙
𝑻
 𝟏𝑷 = 𝟏𝒑𝒚 = 𝟏𝒑𝒙 𝟏𝒑𝒚 𝟏𝒑𝒛
𝟏𝒑𝒛
 Translation is qualitatively different from rotation in
one important aspect.
 In rotation the origin of two coordinate frames is same.
 This invariance of origin feature allows the
representation of rotation in 3-D space as a 𝟑 𝑿 𝟑
rotation matrix 𝑹 .
 However, in translation, the origins of translated frame
{𝟐} and original frame {𝟏} are not coincident and
translation is represented by a 𝟑 𝑿 𝟏 vector, 𝟏𝑫𝟐 .
 A powerful representation of translation is in a 4-D
space of homogeneous coordinates.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 In these coordinates, a point 𝑷 in space with respect to
frame {𝟏} is denoted as.
𝟏𝒑 𝒙
𝑻
 𝟏𝑷 = 𝟏𝒑 𝒚 = 𝟏𝒑 𝒙 𝟏𝒑 𝒚 𝟏𝒑 𝒛 𝝈 .
𝟏𝒑𝒛
𝝈

 The fourth non-zero positive element in the

above matrix is called a scale factor.
 The physical coordinates are obtained by
dividing each element in homogeneous matrix by
the scale factor.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 For a scale factor of 𝟏, homogeneous matrix and
Cartesian matrix are identical.
 Scale factor is used either to magnify or shrink
elements of a vector in original Cartesian matrix.
 For example a physical vector 𝑴 = 𝟓𝒊Ƹ − 𝟐𝒋Ƹ + 𝟑𝒌 ෡ or
𝑴 = 𝟓, −𝟐, 𝟑 𝑻 is equivalent to homogeneous
coordinate vector 𝑳 = 𝟓, −𝟐, 𝟑, 𝟏 𝑻 with a scale factor
of 𝝈 = 𝟏.
𝑻
 Or for 𝝈 = 𝟐 it is 𝑳 = 𝟏𝟎, −𝟒, 𝟔, 𝟐 or for 𝑳 =
𝟐. 𝟓, −𝟏, 𝟏. 𝟓, 𝟎. 𝟓 𝑻 𝝈 = 𝟎. 𝟓 and so on.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 In robotics normally a scale factor of 𝝈 = 𝟏 is used.

 Using homogeneous coordinates 𝟏𝑷 = 𝟐𝑷 + 𝟏𝑫𝟐 is

written as in vector form as.
𝟏 𝟎 𝟎 𝒅𝒙 𝟐𝒑𝒖
𝟎 𝟏 𝟎 𝒅𝒚 𝟐𝒑𝒗  𝟏𝑷 = 𝟏𝑻𝟐 𝟐𝑷 .
 𝟏𝑷 = .
𝟎 𝟎 𝟏 𝒅𝒛 𝟐𝒑
𝒘
𝟎 𝟎 𝟎𝟏 𝟏
 And homogeneous matrix for pure rotation is
ෝ. 𝒖
𝒙 ෝ ෝ. 𝒗
𝒙 ෝ ෝ. 𝒘
𝒙 ෝ 𝟎 𝟐𝒑𝒖
ෝ. 𝒖
𝒚 ෝ ෝ. 𝒗
𝒚 ෝ ෝ. 𝒘
𝒚 ෝ 𝟎 𝟐𝒑𝒗
 𝟏𝑷 =
ෝ
𝒛ො . 𝒖 ෝ
𝒛ො . 𝒗 𝒛ො . 𝒘
ෝ 𝟎 𝟐𝒑𝒘
𝟎 𝟎 𝟎 𝟏 𝟏
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏𝑻𝟐 is a 𝟒𝑿𝟒 homogeneous transformation matrix
for translation of origin from 𝑶𝟏 to 𝑶𝟐 given by
𝑻
 𝟏𝑫𝟐 = 𝑶𝟏 𝐎𝟐 = 𝒅𝒙 𝒅𝒚 𝒅𝒛 𝟏
𝟎 𝒅𝒙 𝟏 𝟎
 And 𝟏𝑻𝟐 𝟎 𝒅𝒚 = 𝟎 𝟏
𝟏 𝒅𝒛 𝟎 𝟎
𝟎𝟏 𝟎 𝟎
 And 𝟒𝑿𝟒 homogeneous transformation matrix for rotation
about common origin is
ෝ. 𝒖
𝒙 ෝ 𝒙
ෝ. 𝒗 ෝ 𝒙
ෝ. 𝒘 ෝ𝟎
ෝ. 𝒖
𝒚 ෝ 𝒚
ෝ. 𝒗 ෝ 𝒚
ෝ. 𝒘 ෝ𝟎
 And 𝟏𝑻𝟐 =
ෝ 𝒛ො . 𝒗
𝒛ො . 𝒖 ෝ𝟎
ෝ 𝒛ො . 𝒘
𝟎 𝟎 𝟎 𝟏
 The above (𝟒𝑿𝟒) transformation matrices are known as the basic
homogeneous transformation matrix.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
Mapping between rotated and translated frames
 Now considering the combined rotation and
translation of frame {𝟐} with respect to frame {𝟏} as
shown in figure.

 The distance between

the two origins is vector
𝑶 𝟏 𝑶 𝟐 = 𝟏𝑫 𝟐 .

 Let a point ′𝑷′ in space

is described with respect
to frame {𝟐} as 𝟐𝑷 .
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 And the same point with respect to frame {𝟏} is 𝟏𝑷 .

 In terms of vectors from the figure.

 𝑶𝟏 𝑷 = 𝑶𝟏 𝑶𝟐 + 𝑶𝟐 𝑷.

 But 𝑶𝟐 𝑷 = 𝟐𝑷 in frame {𝟐}

Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Now consider an intermediate frame {𝟏′ } with its
origin coincident with 𝑶𝟐 .

 Hence frame {𝟏′ } is

to be rotated with
respect to frame {𝟐}
so that axes of frame
{𝟏′ } are parallel to
frame {𝟏′ }.

 Thus frame {𝟏′ } is related to frame {𝟐} by pure

rotation.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Hence we can write 𝟏′ 𝑷 = 𝟏′ 𝑹𝟐 𝟐𝑷 .
 Also since frame {𝟏′ } is aligned with (parallel to) frame
{𝟏},
 𝟏′ 𝑹𝟐 = 𝟏𝑹𝟐 .
 Then we can write.

 𝑶𝟐 𝑷 = 𝟏′ 𝑷 = 𝟏′ 𝑹𝟐 𝟐𝑷 = 𝟏𝑹𝟐 𝟐𝑷 .

 Therefore 𝟏𝑷 = 𝟏𝑫𝟐 + 𝟏𝑹𝟐 𝟐𝑷 .

Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Here 𝟏𝑫𝟐 = 𝑶𝟏 𝑶𝟐 = 𝒅𝒙 𝒅𝒚 𝒅𝒛 𝑻 .

 Or 𝟏𝑷 = 𝟏𝑻𝟐 𝟐𝑷 .

 Where 𝟏𝑻𝟐 is a 𝟒𝑿𝟒 homogeneous transformation

matrix.
 It describes both the position and rotation of
frame {𝟐} with respect to frame {𝟏} .

 The elements of the homogeneous

transformation matrix 𝟏𝑻𝟐 are .
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 ෝ ෝ ෝ
𝒙. 𝒖 ෝ 𝒙
𝒙. 𝒗 ෝ. 𝒘 ෝ 𝒅𝒙
ෝ. 𝒖
𝒚 ෝ 𝒚
ෝ. 𝒗
ෝ 𝒚
ෝ. 𝒘 ෝ 𝒅𝒚
 𝟏𝑻𝟐 =
ෝ 𝒖
𝒘. ෝ 𝒘.
ෝ 𝒗ෝ 𝒛ො . 𝒘
ෝ 𝒅𝒛
𝟎 𝟎 𝟎 𝟏
 The matrix is divided into four subparts and these sub-
matrices are as shown below.
𝐑 𝟑𝐗𝟑 𝐃 𝟑𝐗𝟏

𝐏 𝟏𝐗𝟑 𝛔 𝟏𝐗𝟏
 Here 𝐑 𝟑𝐗𝟑 is rotation matrix.
 𝐃 𝟑𝐗𝟏 is translation matrix.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝐏 𝟏𝐗𝟑 is Perspective matrix.

 Perspective matrix 𝑷 is used in vision systems and

usually is set to zero otherwise.

 And 𝝈 𝟏𝐗𝟏 is Scale factor.

 Scale factor 𝝈 has non zero positive value.

 Scale factor 𝝈 > 𝟏 for enlarging and 𝝈 < 𝟏 is for

reducing is used.
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 For defining the position and orientation of the frame
{𝟐} with respect to frame {𝟏},transformation matrix 𝑻
takes the form.
𝑻
 And 𝟐𝑻𝟏 = 𝟏𝑻𝟐 .

 Then 𝟐𝑷 = 𝟐𝑻𝟏 𝟏𝑷 .

THANK YOU
Lecture 12 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus