Homogeneous Transformation

Homogeneous Vector
Cartesian Vector

Homogeneous Vector

 px   px 
p  p 
A
P   y A
P   y
 pz   pz 
   
1 0

(1) for position , (0) for direction (orientation)

 Homogeneous Transformation
A 4x4 matrix which describes the motion of vector u to vector v

 nx ox ax px 
n oy ay p y 
T  y
 nz oz az pz 
 
0 0 0 1

v= T u
Translation with qx, qy, qz
DQ(q)=Trans(qx, qy, qz)
 Rotational Transformation
Rotation about z-axis with an angle Ɵ , R(z, Ɵ )

 cos  sin  0 0
 sin  cos  
0 0
R( z, )  
 0 0 1 0
 
 0 0 0 1
Rotation about x-axis with an angle Ɵ , R(x, Ɵ )

1 0 0 0
0 cos  sin  
0
R ( x,  )  
0  sin  cos  0
 
0 0 0 1
Rotation about y-axis with an angle Ɵ , R(y, Ɵ )

cos  0  sin  0
 0 1 0 
0
R( y,  )  
 sin  0 cos  0
 
 0 0 0 1
• The Homogeneous Transform - Four Definitions:

• 1. A matrix which specifies frame B in terms of frame A.

• 2. A matrix which maps a point expressed in frame B,
BP, to a point represented as seen from frame A.
• 3. A description of an operator from frame A to frame
B as in the case of a physical turn or rotation.
• 4. A 4x4 matrix with the structure given above and the
inherited mathematical constraints of the included
rotation matrix.