German University in Cairo (GUC)

Faculty of Engineering and Materials Science (EMS)

Mechatronics Engineering Department

Robotics Programming
MCTR-911

Lecture (02)
Coordinate Transformations

Dr. Eng. Omar M. Shehata

Associate Professor
Mechatronics Engineering department,
Faculty of Engineering and Materials Science (EMS), German University in Cairo (GUC)

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 1
 Outlines
• The box
• Rotation Matrix
• Total Homogeneous Transformation Matrix
• Next time .. J

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 2
 The box
™™™™™™™

Last time
• We got introduced to the world of Robotics.
• We discussed the difference that exist between
robotics and Artificial Intelligence (AI).

• Robots need to be modeled (Kinematics,

Dynamics) in order to study their behavior and
performance when used.

• A robotic manipulator is usually rigid fixed to the

ground, composed of group of links connected
through joints, and has an end effector at its end.

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 3
 The box
™ ™™™™™™

The gift box

• As we discussed earlier, one of the applications of robotics is the
handling of several material and parts.

• When you purchase an item from amazon, the item is shipped in a

box such as this one.

• And we want to somehow use a robotic

manipulator to pick this box from one place
and move it to another.

What challenges will we face?

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 4
 The box
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Where is the box?

𝒁𝑮
• Now, consider the box in an empty room.
• How can we represent the position of the
box in the room accurately?
𝟑
𝑮
𝑷𝒑𝟏 = 𝟐
𝟎
𝒙𝑩𝒐𝒙 = 𝟑 𝒀𝑮
• These values present the 𝒑𝟐
position of the point (𝒑𝟏 )
described in the Global frame. 𝒚𝑩𝒐𝒙 = 𝟐 𝒑𝟏
𝑿𝑮
𝒛𝑩𝒐𝒙 = 𝟎
What about point (𝒑𝟐 )?
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 5
 The box
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The box frame

𝒁𝑮
• So, we can define a new frame as shown;
the (box frame).

• Let’s re-define point (𝒑𝟏 ) described in the

box-frame:
𝟎 !!! 𝒁𝑩
𝑩
𝑷𝒑𝟏 = 𝟎
𝟎 𝒀𝑮
𝒑𝟐
• What is the relation between (𝒑𝟐 )
and (𝒑𝟏 ) in the Box-frame?? 𝒑𝟏 𝒀𝑩
𝑿𝑮
Fixed Relation.. 𝑿𝑩

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 6
 The box
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The box vertices

𝒁𝑮
• The box is composed of 8 vertices, which
have fixed relation with the Box-frame.

• This is absolutely correct, as long as

the box is a rigid body. 𝒁𝑩

𝒀𝑮
• For a box of side-length (L), we can 𝒑𝟐
define the point (𝒑𝟐 ) as:
−𝑳 𝒑𝟏 𝒀𝑩
𝑩
𝑷𝒑𝟐 = 𝑳
𝑿𝑮
𝑳 𝑿𝑩

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 7
 The box
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Top-View
𝒁𝑮
• Now, if we consider a top view of the system. 𝑻𝒐𝒑 𝑽𝒊𝒆𝒘
𝒀𝑮
Let’s focus on the
𝒀𝑩 box-frame.
𝒁𝑩

𝒀𝑮
𝒑𝟐 𝒑𝟐

𝑿𝑩 𝒑𝟏 𝒀𝑩
𝒑𝟏
𝑿𝑮
𝑿𝑩
𝑿𝑮
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 8
 The box
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What if?
𝒀𝑮
• If we just focus on the Box-frame,
and forget about the Global-frame 𝒀𝑩
for now.

• What if the box rotated 𝒑𝟐

counter-clockwise with 30 degrees
around (𝒑𝟏 ) vertical axis (𝒁𝑩)?
𝑿𝑩
𝒑𝟏
• Will the Box-frame rotate with it? Yes 𝑿𝑮
• Would (𝒑𝟏 ) change its position? No
• Would (𝒑𝟐 ) change its position? Yes & No
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 9
 The box
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What if? (Analysis)

𝒀𝑮
• The new shape of the system would
look like something as shown.
𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
• Now, what is the relation between 𝑿𝑩,𝒏𝒆𝒘
both frames (Box-frame & 𝒑𝟐
New-Box-frame)??? 𝒑𝟐,𝒏𝒆𝒘
Rotation 𝜽
𝑿𝑩
𝒑𝟏
• How can we represent this in a
mathematical way? 𝑿𝑮

Rotation Matrix
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 10
 Rotation Matrix
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The Rotation Matrix

𝒀𝑮
• Definition:
The rotation matrix is a (3 X 3) matrix 𝒀𝑩
that reflects the rotational relation 𝒀𝑩,𝒏𝒆𝒘
of a frame w.r.t. another frame.
𝑿𝑩,𝒏𝒆𝒘
𝒑𝟐
• So, for our problem, we would like 𝒑𝟐,𝒏𝒆𝒘
to find the following: 𝜽
𝑿𝑩
“Rotation Matrix describing New-Box- 𝒑𝟏
Frame w.r.t. the initial Box-Frame”
𝑿𝑮
Written as: 𝑩
•
𝑹𝑩,𝒏𝒆𝒘
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 11
 Rotation Matrix
™ ™™™™™™™™™

Dot Product !!!

𝒀𝑮
• It is evaluated based upon the
concepts of projections (that
represent the components) of the 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
axes of the new frame w.r.t. the
axes of the original frame. 𝑿𝑩,𝒏𝒆𝒘
𝒑𝟐
𝒑𝟐,𝒏𝒆𝒘
• This is done using: 𝜽
“Dot Product” 𝑿𝑩
𝒑𝟏

• So now, Let’s review the dot product 𝑿𝑮

as an essential tool required to calculate the Rotation Matrices.

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 12
 Rotation Matrix
™™ ™™™™™™™™

Force Analysis Example

𝒀𝑮
• At earlier stages of study, we learnt
how to resolve a force (F) as shown:
𝒀𝑩
𝒚 𝒀𝑩,𝒏𝒆𝒘
𝑭 = 𝟏𝟎𝑵
𝑭𝒚 𝑿𝑩,𝒏𝒆𝒘
𝜽 = 𝟑𝟎 𝒑𝟐
𝑭𝒙 𝒙
• Where, 𝒑𝟐,𝒏𝒆𝒘
𝜽
𝑭𝒙 = 𝟏𝟎 𝒄𝒐𝒔(𝟑𝟎) 𝑿𝑩
𝒑𝟏
• This is mainly (dot product) as:
𝑿𝑮
𝑭𝒙 = 𝑭. 𝒙 = 𝑭 ∗ 𝒙 ∗ 𝒄𝒐𝒔(𝜽)
𝑭𝒙 = 𝑭. 𝒙 = 𝟏𝟎 ∗ 𝟏 ∗ 𝒄𝒐𝒔 𝜽 = 𝟏𝟎 𝒄𝒐𝒔(𝟑𝟎)

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 13
 Rotation Matrix
™™™ ™™™™™™™

Force Analysis Example

𝒀𝑮
• At earlier stages of study, we learnt
how to resolve a force (F) as shown:
𝒀𝑩
𝒚 𝒀𝑩,𝒏𝒆𝒘
𝑭 = 𝟏𝟎𝑵
𝑭𝒚 𝑿𝑩,𝒏𝒆𝒘
𝜽 = 𝟑𝟎 𝒑𝟐
𝑭𝒙 𝒙
𝒑𝟐,𝒏𝒆𝒘
𝜽
𝑿𝑩
𝒑𝟏

𝑿𝑮

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 14
 Rotation Matrix
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The 3X3 Matrix

𝒀𝑮
• Using the same approach, we want
to evaluate the Rotation Matrix:
𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
𝑿𝑩,𝒏 𝒀𝑩,𝒏 𝒁𝑩,𝒏
𝑿𝑩 ∗ ∗ ∗ 𝑿𝑩,𝒏𝒆𝒘
𝑩
𝑹𝑩,𝒏𝒆𝒘 = 𝒀𝑩 ∗ ∗ ∗ 𝒑𝟐
𝒁𝑩
∗ ∗ ∗ 𝟑×𝟑 𝒑𝟐,𝒏𝒆𝒘
𝜽
• Using dot-product: 𝑿𝑩
𝒑𝟏
= 𝑿𝑩,𝒏 . 𝑿𝑩 = 𝑿𝑩,𝒏 ∗ 𝑿𝑩 ∗ 𝒄𝒐𝒔(𝜽)
𝑿𝑮
= 𝑿𝑩,𝒏 . 𝑿𝑩 = 𝟏 ∗ 𝟏 ∗ 𝒄𝒐𝒔 𝜽 = 𝒄𝒐𝒔(𝜽)
Unit Vectors
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 15
 Rotation Matrix
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The Meaning of Numbers

𝒀𝑮
• Let’s find another element, using
another approach (graphical):
𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
𝑿𝑩,𝒏 𝒀𝑩,𝒏 𝒁𝑩,𝒏
𝑿𝑩 ∗ ∗ ∗ 𝜽 𝑿𝑩,𝒏𝒆𝒘
𝑩
𝑹𝑩,𝒏𝒆𝒘 = 𝒀𝑩 ∗ ∗ ∗ 𝒑𝟐
𝒁𝑩
∗ ∗ ∗ 𝟑×𝟑 𝒑𝟐,𝒏𝒆𝒘
𝜽
𝑿𝑩
𝒑𝟏
• Using dot-product (as well): −𝒔𝒊𝒏(𝜽)
𝑿𝑮
= 𝒀𝑩,𝒏 . 𝑿𝑩 = 𝒀𝑩,𝒏 ∗ 𝑿𝑩 ∗ 𝒄𝒐𝒔(𝜽𝒃𝒆𝒕𝒘𝒆𝒆𝒏 )
= 𝒀𝑩,𝒏 . 𝒀𝑩 = 𝟏 ∗ 𝟏 ∗ 𝒄𝒐𝒔 𝟗𝟎 + 𝜽 = −𝒔𝒊𝒏(𝜽)

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 16
 Rotation Matrix
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The Full Rotation Matrix

𝒀𝑮
• So, we can find out that the required
rotation matrix is equal to:
𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
𝑿𝑩,𝒏 𝒀𝑩,𝒏 𝒁𝑩,𝒏
𝑿𝑩 𝑪𝜽 −𝑺𝜽 𝟎 𝑿𝑩,𝒏𝒆𝒘
𝑩
𝑹𝑩,𝒏𝒆𝒘 = 𝒀𝑩 𝑺𝜽 𝑪𝜽 𝟎 𝒑𝟐
𝒁𝑩 𝟎 𝟎 𝟏 𝟑×𝟑 𝒑𝟐,𝒏𝒆𝒘
𝜽
• This is commonly called the standard rotation 𝑿𝑩
𝒑𝟏
matrix around Z-axis, with angle (𝜽).
𝑿𝑮
• Now, how can we use this to find position of (𝒑𝟐,𝒏𝒆𝒘) described in the
initial (old) Box-frame ??
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 17
 Rotation Matrix
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The Rotated Position

𝒀𝑮
• This can be done using:
𝑩
𝑷𝒑𝟐 ,𝒏𝒆𝒘 = 𝑩𝑹𝑩,𝒏𝒆𝒘 ∗ 𝑩,𝒏𝒆𝒘𝑷𝒑𝟐 ,𝒏𝒆𝒘 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
𝑪𝜽 −𝑺𝜽 𝟎 −𝑳 𝑿𝑩,𝒏𝒆𝒘
𝑩
𝑷𝒑𝟐 ,𝒏𝒆𝒘 = 𝑺𝜽 𝑪𝜽 𝟎 𝑳 𝒑𝟐
𝟎 𝟎 𝟏 𝑳 𝒑𝟐,𝒏𝒆𝒘
−𝑳 ∗ 𝑪𝜽 −𝑳 ∗ 𝑺𝜽 𝜽
𝑩 𝑿𝑩
𝑷𝒑𝟐,𝒏𝒆𝒘 = −𝑳 ∗ 𝑺𝜽 +𝑳 ∗ 𝑪𝜽 𝒑𝟏
𝑳
𝑿𝑮
• Check, at angle (𝜃) equals (90): −𝑳
𝑩
𝑷𝒑𝟐 = −𝑳
𝑳
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 18
 Rotation Matrix
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The Standard Rotation Matrices

• The main standard rotation matrices can be summarized as:
𝑪𝜽 −𝑺𝜽 𝟎
𝑹𝒁5𝒂𝒙𝒊𝒔,𝜽 = 𝑺𝜽 𝑪𝜽 𝟎
𝟎 𝟎 𝟏 𝟑×𝟑

𝟏 𝟎 𝟎
𝑹𝑿5𝒂𝒙𝒊𝒔,𝜽 = 𝟎 𝑪𝜽 −𝑺𝜽
𝟎 𝑺𝜽 𝑪𝜽 𝟑×𝟑

𝑪𝜽 𝟎 𝑺𝜽
𝑹𝒀5𝒂𝒙𝒊𝒔,𝜽 = 𝟎 𝟏 𝟎
−𝑺𝜽 𝟎 𝑪𝜽 𝟑×𝟑

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 19
 Rotation Matrix
™™™™™™™™™ ™

Composition of Rotation Matrices

𝒀𝑮
• In case of more than one frame
do exist, or several frame rotations
are conducted concurrently, then 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
we can calculate the composite
rotation matrix as follows: 𝑿𝑩,𝒏𝒆𝒘
𝒑𝟐
𝒑𝟐,𝒏𝒆𝒘
𝑩
𝑹𝑩,𝟗𝟎 = 𝑩𝑹𝑩,𝒏𝒆𝒘 ∗ 𝑩,𝒏𝒆𝒘𝑹𝑩,𝟗𝟎 𝜽
𝑿𝑩
𝒑𝟏
• Through consecutive multiplication
of the matrices, we can calculate the 𝑿𝑮
final (total) rotation matrix.

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 20
 Rotation Matrix
™™™™™™™™™™

Inverse of Rotation Matrix

𝒀𝑮
• What if we wanted to do it the other
way around ??
𝒀𝑩
• Meaning we want to find: 𝒀𝑩,𝒏𝒆𝒘
𝑩,𝒏𝒆𝒘 𝑿𝑩,𝒏𝒆𝒘
𝑹𝑩
𝒑𝟐
• Instead of doing calculations, we 𝒑𝟐,𝒏𝒆𝒘
𝜽
can use an important property of 𝑿𝑩
the orthonormal rotation matrices: 𝒑𝟏

𝑿𝑮
5𝟏 𝑻
𝑪𝜽 𝑺𝜽 𝟎
𝑩,𝒏𝒆𝒘
𝑹𝑩 = 𝑩𝑹𝑩,𝒏𝒆𝒘 = 𝑩𝑹𝑩,𝒏𝒆𝒘 = − 𝑺𝜽 𝑪𝜽 𝟎
𝟎 𝟎 𝟏 𝟑×𝟑
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 21
 Transformation Matrix
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Global Frame is back J

𝒀𝑮
• What if we want to find the position
of (𝒑𝟐,𝒏𝒆𝒘) w.r.t. Global frame?
𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
• Now, what is the relation between 𝑿𝑩,𝒏𝒆𝒘
both frames (New-Box-frame & 𝒑𝟐
Global-Frame)??? 𝒑𝟐,𝒏𝒆𝒘
𝜽
𝑿𝑩
Rotation + Translation 𝒑𝟏
• How can we represent this in a
𝑿𝑮
mathematical way?

Total Homogeneous Transformation Matrix

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 22
 Transformation Matrix
™ ™™™™™™™

Total Transformation Matrix

𝒀𝑮
• Definition:
The Total Homogeneous Transform-
ation matrix is a (4 X 4) matrix 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
that reflects the total change
(rotational + translation relation) 𝑿𝑩,𝒏𝒆𝒘
of a frame w.r.t. another frame. 𝒑𝟐
• So, for our problem, we would like 𝒑𝟐,𝒏𝒆𝒘
to find the following: 𝜽
𝑿𝑩
“Total Transf. Matrix describing New- 𝒑𝟏
Box-Frame w.r.t. the fixed Global Frame”
𝑿𝑮
𝑮
• Written as: 𝑻𝑩,𝒏𝒆𝒘
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 23
 Transformation Matrix
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Total Transformation Matrix Components

• The Total Homogeneous Transformation Matrix between any two
frames can be represented as shown below:
Rotation Matrix between the Position Vector between the
two frames (described earlier) Origins of the two frames
𝑮 𝑮
𝑹𝑩,𝒏𝒆𝒘 𝒅𝑩,𝒏𝒆𝒘
∗ ∗ ∗ ∗ The displacement vector
∗ ∗ ∗ ∗ between the 2 origins going
𝑮
𝑻𝑩,𝒏𝒆𝒘 = from the origin of the
∗ ∗ ∗ ∗ reference frame to the
𝟎 𝟎 𝟎 𝟏 𝟒×𝟒 origin of the referenced
frame and moving along the
axes of the reference frame.

Deformability percentages Scalability

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 24
 Transformation Matrix
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Total Transformation Matrix Example

𝒀𝑮
• So back to our system, and using the
previously evaluated Rotation matrix
as well as the position vector of (𝒑𝟏 ) 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
which is the origin of the New-box
frame, we can find: 𝑿𝑩,𝒏𝒆𝒘
𝒑𝟐
𝑪𝜽 −𝑺𝜽 𝟎 𝟑 𝒑𝟐,𝒏𝒆𝒘
𝑮 𝑺𝜽 𝑪𝜽 𝟎 𝟐 𝜽
𝑻𝑩,𝒏𝒆𝒘 = 𝑿𝑩
𝟎 𝟎 𝟏 𝟎 𝒑𝟏
𝟎 𝟎 𝟎 𝟏 𝟒×𝟒 𝒚𝒑𝟏 = 𝟐
• This matrix fully describes the relation 𝒙𝒑𝟏 = 𝟑 𝑿𝑮
between the Global fixed frame and the New-box frame.

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 25
 Transformation Matrix
™™™™ ™™™™

Full Body Transformation

𝒀𝑮
• Using the same approach, we have
the ability to transform all the
vertices of the box to be presents 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
in the fixed Global frame:
𝑿𝑩,𝒏𝒆𝒘
𝑮 𝑮 𝑩,𝒏
𝑷 𝑷𝒊 ,𝒏 = 𝑻 𝑩,𝒏 ∗ 𝑷 𝑷𝒊 ,𝒏 𝒑𝟐
𝟒×𝑵 𝟒×𝟒 𝟒×𝑵
𝜽
𝒑𝟐,𝒏𝒆𝒘 𝑿𝑩
• This way, we have the full capacity 𝒑𝟏
to completely represent complete 𝒚𝒑𝟏 = 𝟐
rigid bodies w.r.t. the Global frame. 𝒙𝒑𝟏 = 𝟑 𝑿𝑮
• All we need to do is Assign Body Frame + Find Transformation Matrix.

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 26
 Transformation Matrix
™™™™™ ™™™

Composition of Total Transformation Matrices

𝒀𝑮
• In case of more than one frame
do exist, or different frame
transformations are conducted 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
concurrently, then we can calculate
the composite total transformation 𝑿𝑩,𝒏𝒆𝒘
matrix as follows: 𝒑𝟐
𝑮
𝑻𝑩,𝒏𝒆𝒘 = 𝑮𝑻𝑩 ∗ 𝑩𝑻𝑩,𝒏𝒆𝒘
𝜽
𝒑𝟐,𝒏𝒆𝒘 𝑿𝑩
𝒑𝟏
• Through consecutive multiplication 𝒚𝒑𝟏 = 𝟐
of the matrices, we can calculate the 𝑿𝑮
final total transformation matrix. 𝒙𝒑𝟏 = 𝟑

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 27
 Transformation Matrix
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Inverse?? (Problem)
𝒀𝑮
• What if we wanted to do it the other
way around ??
𝒀𝑩
• Meaning we want to find: 𝒀𝑩,𝒏𝒆𝒘
𝑩,𝒏𝒆𝒘 𝑿𝑩,𝒏𝒆𝒘
𝑻𝑮
𝒑𝟐
• It is important to know that total
𝜽
transformation matrices are 𝒑𝟐,𝒏𝒆𝒘 𝑿𝑩
NOT orthonormal matrices: 𝒑𝟏
𝒚𝒑𝟏 = 𝟐
𝒙𝒑𝟏 = 𝟑 𝑿𝑮
𝑩,𝒏𝒆𝒘 𝑮 5𝟏 𝑮 𝑻
𝑻𝑮 = 𝑻𝑩,𝒏𝒆𝒘 ≠ 𝑻𝑩,𝒏𝒆𝒘

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 28
 Transformation Matrix
™™™™™™™ ™

Inverse?? (Solution)
𝒀𝑮
• So, how can we find the inverse of
total transformation matrices. This
is done using the following rule: 𝒀𝑩
𝒀𝑩,𝒏𝒆𝒘
• Given that:
𝑮
𝑹 𝑩,𝒏
𝑮
𝒅 𝑩,𝒏 𝑿𝑩,𝒏𝒆𝒘
𝑮
𝑻𝑩,𝒏 = 𝟑×𝟑 𝟑×𝟏 𝒑𝟐
𝟎𝟏×𝟑 𝟏𝟏×𝟏
𝜽
• Then: 𝒑𝟐,𝒏𝒆𝒘 𝑿𝑩
𝑩,𝒏 𝑮 5𝟏 𝒑𝟏
𝑻𝑮 = 𝑻𝑩,𝒏 𝒚𝒑𝟏 = 𝟐
𝑻 𝑻
𝑮
𝑹 𝑩,𝒏 − 𝑹 𝑩,𝒏 ∗ 𝑮𝒅 𝑩,𝒏
𝑮
𝒙𝒑𝟏 = 𝟑 𝑿𝑮
𝑩,𝒏
𝑻𝑮 = 𝟑×𝟑 𝟑×𝟑 𝟑×𝟏
𝟎𝟏×𝟑 𝟏𝟏×𝟏

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 29
 Transformation Matrix
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The big picture

𝒁𝑮
• Back to our box again J
𝑪𝒂𝒎𝒆𝒓𝒂
• In such an environment, the
room will not be empty. Other
items will exist in the space
such as: 𝑬𝒏𝒅 𝒆𝒇𝒇𝒆𝒄𝒕𝒐𝒓
– Camera: 𝒁𝑩
For the sensory data and the feedback
for the tracking of the objects of interest. 𝒀𝑮
𝒑𝟐
– End effector:
The most important frame that we 𝒑𝟏 𝒀𝑩
will be using to achieve the task of
the robotic manipulator. 𝑿𝑮
𝑿𝑩

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 30
 Next time J

Next time
• In the next Lecture we will cover:
– Robot Kinematic modeling

• In the next tutorial we will cover:

– Coordinate Transformation Examples and Special Cases J

Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 31
 See you Next time … J
Lecture (02): Coordinate Transformations Robotics Programming (MCTR-911) – Winter ‘24 -- Dr. Eng. Omar M. Shehata © 32