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Chapter 2 - Spatial Descriptions and Transformations

This document discusses various methods for representing the position and orientation of objects in 3D space, including: - Cartesian and other coordinate systems for representing position - Rotation matrices and fixed/Euler angles for representing orientation between frames - Homogeneous transformation matrices for mapping positions and orientations between frames with different positions and orientations - Alternative representations of orientation like angle-axis and Euler parameters The goal is to choose representations that allow determining the configuration of a robot arm and moving it from an initial to target configuration for picking up an object. The next class will apply these methods to compute the end effector position and orientation of a robot manipulator.

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43 views

Chapter 2 - Spatial Descriptions and Transformations

This document discusses various methods for representing the position and orientation of objects in 3D space, including: - Cartesian and other coordinate systems for representing position - Rotation matrices and fixed/Euler angles for representing orientation between frames - Homogeneous transformation matrices for mapping positions and orientations between frames with different positions and orientations - Alternative representations of orientation like angle-axis and Euler parameters The goal is to choose representations that allow determining the configuration of a robot arm and moving it from an initial to target configuration for picking up an object. The next class will apply these methods to compute the end effector position and orientation of a robot manipulator.

Uploaded by

Ephrem
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Representation of Position &

Orientation
Amanuel M
SiTE - AAiT
Outline
● Coordinate System
● Position and Orientation
● Frames
● Frame-to-Frame Mapping
● Transformations
● More Representations of Orientations
● Computational Consideration
Coordinate System
Our end goal:- Build an arm robot that can pick up an item and places it in another
place
Coordinate System
● We need to know and represent the current state
(configuration) of the robot (initial configuration)
● We need to know the the configuration that allows
the robot to pick the item (target configuration)
● We need an algorithm that changes the
configuration of the robot from the initial to the
target configuration (motion planning)
Coordinate System
How do we represent the location of a point in a certain space?

The cartesian coordinate system

René Descartes
Coordinate System
Properties the Cartesian Coordinate System

● Each component is a unit vector


○ X => (1, 0, 0)
○ Y => (0, 1, 0)
○ Z => (0, 0, 1)
● They are ortonormal
Coordinate System
Properties the Cartesian Coordinate System

The right hand rule and positive/negative sides


Coordinate Systems
Other Coordinate Systems

Polar Coordinates Geographic Coordinates Cylindrical Coordinates


Position & Orientation
Representing Position in 3D in Cartesian Coordinates

Everything is relative

Frame
Position & Orientation
Representing Orientation in 3D

● Expressions
○ Rotation along Z-axis
○ Rotation on the XY plane
Position & Orientation
Representing Orientation in 3D

● Attach a coordinate system to the rotated object


● Write the unit vectors of its three principal axes in
terms of the coordinate system (vector projection)
● Result - a 3x3 matrix - Rotation Matrix

Base frame

Target object frame


Position & Orientation
Representing Orientation in 3D

● A relative to B is given by the transpose of


the rotation matrix of B relative to A
Position & Orientation - Example
Frames
● When describing the position and orientation of an
object, which point in the object should be chosen?
● Frame, which is a set of four vectors giving position
and orientation information of a body
● It describes the position and orientation of a body
relative to another Origin Frame
Mapping frame to frame
● Often we would like to map descriptions from one frame to another
● The view of the camera is different from the end effector
Mapping frame to frame
Consider a point BP and we want to express its position relative to A, whose
orientation is same to B but different location

- B is translated away from A


Mapping frame to frame
Consider a point BP and we want to express its position relative to A, whose
orientation is same to B but different location

- B is translated away from A


Mapping frame to frame
Consider a point BP and we want to express its orientation relative to A, whose
location is same to B but different orientation

- B is rotated away from A


Mapping frame to frame
What if B is a rotated and translated away from A?

How can we express BP with respect to A?

Homogeneous Matrix
Mapping frame to frame - Example
Homogeneous Matrix
Rotation along X, Y, Z
Alternative Orientation Representations
The X-Y-Z Fixed Angles

● Start with the frame coincident with a known reference frame {A}.
● Rotate {B} first about X̂A by an angle γ, then about ŶA by an angle β, and, finally,
about ẐA by an angle α.
● The word “fixed” refers to the fact that the rotations are specified about the
fixed (i.e., nonmoving) reference frame
Alternative Orientation Representations
The X-Y-Z Fixed Angles
Alternative Orientation Representations
● The Z-Y-X Euler Angles
● Start with the frame coincident with a known frame {A}.
● Rotate {B} first about ẐB by an angle α, then about ŶB by an angle β, and, finally,
about X̂B by an angle γ.
● each rotation is performed about an axis of the moving system {B} rather than
one of the fixed reference {A}.
Alternative Orientation Representations
● Z–Y–Z Euler Angles
● Start with the frame coincident with a known frame {A}.
● Rotate {B} first about ẐB by an angle α, then about ŶB by an angle β, and, finally,
about ẐB by an angle γ.
● Rotations are described relative to the frame we are moving, namely, {B}, so
this is an Euler angle description.
Alternative Orientation Representations
Equivalent Angle–Axis Representation

Start with the frame coincident with a known frame {A}; then rotate {B} about the
vector K by an angle θ according to the right-hand rule.
Alternative Orientation Representations
Equivalent Angle–Axis Representation

Start with the frame coincident with a known frame {A}; then rotate {B} about the
vector K by an angle θ according to the right-hand rule.
Alternative Orientation Representations
Euler Parameters

In terms of the equivalent axis K̂ = [kx ky kz ]T and the equivalent angle θ, the Euler
parameters are given by
Next
Today’s class is about

● Representation of position and orientation of objects and frames


● Mapping the position and orientation of object from a frame to another
● Explore various alternatives orientation representation

Next Class

● Using the above methods, compute the position and orientation of the
end effector of a robot manipulator
○ Using basic matrix multiplication
○ Using Denavit-Hartenberg (DH) method

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