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x, y, a,
Ax
u, v, p, q,
Matrices
A, B, C,
AA
B
g, h,
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a1 b1 a2b3 a3b2
a b a b ab
2 2 3 1 1 3
a3 b3 a2b1 a1b2
a3 a2 b1
0
a3
0
a1 b2
0 b3
a2 a1
a =A
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g : O R3
O
Rigid Body Motion
g t : O R3
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v
q
g (p)
g* (v)
g (q)
g preserves lengths
g* preserves cross products
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P
B P
A P
y'
O'
A O
O
x'
x
r AR B B r P Ar O
A P
Rotation of {B}
with respect to
{A}
Translation of
the origin of {B}
with respect to
origin of {A}
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Rotational transformations in R3
Properties of rotation matrices
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Example: Rotation
0
0
1
Rot x, 0 cos sin
0 sin cos
z
y
x
Displacement
x
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Example: Rotation
Rotation about the y-axis through
cos 0 sin
Rot y, 0
1
0
sin 0 cos
cos sin 0
Rot z , sin cos 0
0
1
0
x'
z'
x'
y
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y'
Rigid Motion in R3
z'
z'
{B}
z
{A}
P
{A}
B P
y'
O'
A O
A P
A P
B P
A P
O'
A O
y'
y
x'
x'
x
x
r A R B B r P Ar O
A P
A P
A R B Ar P Ar O
It transforms the position vector of any point in {B} to the position vector in {A}
It transforms the position vector of any point in the first position/orientation (described by
{A}) to its new position vector in the second position orientation (described by{B}).
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Mobile Robots
x
gWR
AR
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cos sin x
sin cos y
0
0
1
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SE 3 A
R r
33
3
T
T
,
R
R
,
r
R
,
R
R
RR
0
1
13
http://www.seas.upenn.edu/~meam520/notes02/RigidBodyMotion3.pdf
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The set is closed under the binary operation. In other words, if A and B are any two
matrices in SE(3), AB SE(3).
The binary operation is associative. In other words, if A, B, and C are any three matrices
SE(3), then (AB) C = A (BC).
For every element A SE(3), there is an identity element given by the 44 identity matrix,
ISE(3), such that AI = A.
For every element A SE(3), there is an identity inverse, A-1 SE(3), such that A A-1 = I.
the binary operation above is a continuous operation the product of any two
elements in SE(3) is a continuous function of the two elements
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Composition of Displacements
z'
RB
AB
013
r
,
1
A O'
{A}
y'
O'
RC
AC
013
POSITION 1
B O
r
,
1
AC
RC
0
RB
0
A O
R B B R C
0
z''
O''
x'
1
A O
r
1
{C}
POSITION 2
{B}
x''
y''
POSITION 3
RC
0
B O
R B B r O A r O
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Composition (continued)
z'
Composition of displacements
{A}
y'
O'
POSITION 1
Composition of transformations
{C}
POSITION 2
{B}
z''
O''
x'
x
x''
y''
POSITION 3
Subgroups
of SE(3)
Subgroup
Notation
Definition
Significance
The group of
rotations in
three
dimensions
SO(3)
Special
Euclidean
group in two
dimensions
SE(2)
SO 3 R R R 3 3 , R T R RR T I
cos
sin
rx
sin cos ry
0
0
1
where , rx, and ry are real numbers.
The group of
rotations in
two
dimensions
SO(2)
cos sin
sin cos ,
T(n)
All translations in n
dimensions. n = 2 indicates
planar, n = 3 indicates spatial
displacements.
The group of
translations in
one
dimension.
T(1)
The group of
screw
displacements
H(1)
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