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Ch. 1: Introduction
Ch. 2 Craig & Ch. 1 Tsai
Description of position and orientation in 3D space
In order to describe the position and orientation of a body in space,
we will always attach a coordinate system, or frame, rigidly to the
object.
The dot product of two unit vectors yields the cosine of the angle
between them, so it is clearly why the components of the rotation
matrices is often referred as direction cosines.
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Rotation matrix about the principle axes of the
reference coordinate system
1 0 0 1 0 0
𝑅𝑥,𝛼 = 0 𝐶𝛼 −𝑆𝛼 𝑇
𝑅𝑥,𝛼 = 𝑅𝑥,−𝛼
𝑅𝑥,−𝛼 = 0 𝐶𝛼 𝑆𝛼
0 𝑆𝛼 𝐶𝛼 0 −𝑆𝛼 𝐶𝛼
𝐶𝜑 0 𝑆𝜑 𝐶𝜑 0 −𝑆𝜑 𝑇
𝑅𝑦,𝜑 = 𝑅𝑦,−𝜑
𝑅𝑦,𝜑 = 0 1 0 𝑅𝑦,−𝜑 = 0 1 0
−𝑆𝜑 0 𝐶𝜑 𝑆𝜑 0 𝐶𝜑
𝐶𝜃 −𝑆𝜃 0 𝐶𝜃 𝑆𝜃 0
𝑇
𝑅𝑧,𝜃 = 𝑆𝜃 𝐶𝜃 0 𝑅𝑧,−𝜃 = −𝑆𝜃 𝐶𝜃 0 𝑅𝑧,𝜃 = 𝑅𝑧,−𝜃
0 0 1 0 0 1
: is called homogeneous
transform
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Consider all transforms are
known except
Then,
𝐴
𝑅𝐵 is called the rotation matrix of the moving frame B with
respect to the fixed frame A.
The rotation matrix specifies the orientation of frame B
completely with respect to frame A.
The columns of a rotation matrix represents a three orthogonal
unit vectors of the moving coordinates expressed in the
fixed frame.
Therefore, the rotation matrix is orthogonal (orthonormal).
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The orthogonality conditions can be stated as follows:
𝒖∙𝒖=1 𝒖𝟐 = 1
𝒗∙𝒗=1 𝒗𝟐 = 1
𝒘∙𝒘=1 𝒘𝟐 = 1
𝒖∙𝒗=0 𝒖𝑻 𝒗 = 0
𝒗∙𝒘=0 𝒗𝑻 𝒘 = 0
𝒘∙𝒖=0 𝒘𝑻 𝒖 = 0
𝐵
𝑅𝐴 = 𝐴𝑅𝐵𝑇 = 𝐴𝑅𝐵−1
𝐴
det 𝑅𝐵 = 1
𝐵 𝑇
𝒊
𝐴
𝑅𝐵 = 𝐴
𝒖 𝐴
𝒗 𝐴
𝒘 = 𝐵 𝒋𝑇
𝐵 𝑇
𝒌
𝑐𝜃 −𝑠𝜃 0
𝑅𝑧,𝜃 = 𝑠𝜃 𝑐𝜃 0
0 0 1
𝑐𝜃 −𝑠𝜃 0
𝑅𝑧,𝜃 = 𝑠𝜃 𝑐𝜃 0
0 0 1
1 0 0
𝑅𝑥,𝜓 = 0 𝑐𝜓 −𝑠𝜓
0 𝑠𝜓 𝑐𝜓
𝑐𝜑 0 𝑠𝜑
𝑅𝑦,𝜑 = 0 1 0
−𝑠𝜑 0 𝑐𝜑
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Euler Angles Representations
Roll – Pitch - Yaw Angles
𝑎11 = 𝑠𝑥2 − 1 1 − 𝑐𝜃 + 1
𝑠𝑥 = 𝑠𝑦 = 0, 𝑠𝑧 = 1 𝑎12 = 𝑠𝑥 𝑠𝑦 1 − 𝑐𝜃 − 𝑠𝑧 𝑠𝜃
𝑎13 = 𝑠𝑥 𝑠𝑧 1 − 𝑐𝜃 + 𝑠𝑦 𝑠𝜃
𝑐𝜃 −𝑠𝜃 0
𝑅𝑧,𝜃 = 𝑠𝜃 𝑐𝜃 0 𝑎21 = 𝑠𝑦 𝑠𝑥 1 − 𝑐𝜃 + 𝑠𝑧 𝑠𝜃
0 0 1
𝑎22 = 𝑠𝑦2 − 1 1 − 𝑐𝜃 + 1
𝑎23 = 𝑠𝑦 𝑠𝑧 1 − 𝑐𝜃 − 𝑠𝑥 𝑠𝜃
𝑎31 = 𝑠𝑧 𝑠𝑥 1 − 𝑐𝜃 − 𝑠𝑦 𝑠𝜃
𝑎32 = 𝑠𝑧 𝑠𝑦 1 − 𝑐𝜃 + 𝑠𝑥 𝑠𝜃
𝑎33 = 𝑠𝑧2 − 1 1 − 𝑐𝜃 + 1
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Rotation matrices about the principle axes of the
reference coordinate system
𝑐𝜃 −𝑠𝜃 0
𝑅𝑧,𝜃 = 𝑠𝜃 𝑐𝜃 0 𝑠𝑥 = 𝑠𝑦 = 0, 𝑠𝑧 = 1
0 0 1
1 0 0
𝑅𝑥,𝜓 = 0 𝑐𝜓 −𝑠𝜓 𝑠𝑦 = 𝑠𝑧 = 0, 𝑠𝑥 = 1
0 𝑠𝜓 𝑐𝜓
𝑐𝜑 0 𝑠𝜑
𝑅𝑦,𝜑 = 0 1 0 𝑠𝑥 = 𝑠𝑧 = 0, 𝑠𝑦 = 1
−𝑠𝜑 0 𝑐𝜑
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Description of a
Location of a rigid body
𝐴
𝑷 = 𝑂𝑃
𝐵
𝑷 = 𝑄𝑃
𝐴
𝒒 = 𝑂𝑄
𝐴
𝑷 = 𝑂𝑄 + 𝑄𝑃
𝐴 𝐴 𝐴 𝐵
𝑷 = 𝒒 + 𝑅𝐵 𝑷
Location means the position and orientation of the
frame attached to the body.
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Homogeneous
Transformation
𝐴
𝑷 = 𝐴𝒒 + 𝐴𝑅𝐵 𝐵𝑷
𝐴 𝐴 𝐵
𝑷 = 𝑇𝐵 𝑷
𝐴 𝑇
𝑷 = 𝑝𝑥 𝑝𝑥 𝑝𝑥 1
𝐵 𝑇
𝑷 = 𝑝𝑢 𝑝𝑣 𝑝𝑤 1
𝐴 𝐴
𝐴
𝑇𝐵 = 𝑅𝐵 𝒒
000 1
𝐵 𝐴 −1 𝐴
𝑷= 𝑇𝐵 𝑷
𝐴 𝑇 𝐴 𝑇𝐴
𝐴 −1
𝑇𝐵 = 𝑅𝐵 − 𝑅𝐵 𝒒
000 1
Matlab Homework:
2A-a, 2B-a, 2B-b, 2B-e.