CHAPTER II

BASIS OF CALCULATION

1. Point in the space:

- In 3-dimensional space,
a point can be represented by vectors in
different reference systems

- The position of one point can be represented

by a position vector

- Position of point P

épx ù
r ê ú
p = êpy ú
êp ú i, j, k: Unit vectors
ë zû
-if with issues-oriented, we can describe the
vector in 4 - dimensional space, with the matrix column:

épx ù ì px
ê ú ïw =a W is the interpretation for 4th direction
ê py ú ï
p= ï py
êpz ú
ê ú í =b
êë w úû ïw
ï pz
ïw =c
î px px
= = px = a
- If w = 1, we have: w 1
py py
Þ In the case: uniform
= = py = b
w 1
Position and direction
pz pz
Homogeneous coordinate. = = pz = c
w 1
 - If w = 0: p x p y pz
, , →∞
w w w
The limit ¥, describe the directions of the coordinate

2. Describe the plane

Plane with the coordinates, can be described by a row matrix

P = [ a, b, c, d]
If one point q in P, scalar, P.v = 0

éx ù
êy ú
v=ê ú P.v = ax + by + cz + dw = 0
êz ú
ê ú
ëw û
3. Homogeneous transformation matrix
" R ( AB)  q A (3×1)% Matrix 4x4, Is the mapping of a transformation
$ '
T ( AB)
= $………  ……… ' positional vector from one coordinate system to a
$γ (1× 3)  ρ (1×1) '& different coordinate system
#

R(AB) determine the direction of the B for a fixed system A

Determine the origin of coordinate for the fixed coordinate
 Using homogeneous transformations of coordinates, can be written as:
T
( A) ( AB) ( B)
p̂ =T .p̂
( A)
p̂ = !" px , py , pz , 1#$
!p $
éR
( AB)
! q ù (A)
 # &
x
ê ú p = #py &
T ( AB) = ê""" ! """ú
# &
ê0 0 0 ! 1 ú "pz %
ë û
Remark: homogeneous transformations, nonexistent orthogonal conditions
( AB)-1 ( AB)T
T ¹T
Can write: p( A) = R ( AB). p(B) + q ( A)
( AB)−1 ( A) ( AB)−1
=> R p =R (R ( AB). p(B) + q ( A) )

( AB)−1 ( AB)T
R =R

(B) ( AB)T ( A) ( AB)T

=> p =R .p −R .q ( A)

( A) ( AB) (B) (B) ( AB)−1

p̂ =T . p̂ ⇔ p̂ =T . p̂( A)

" R ( AB)  − R ( AB) q ( A) %

−1

−1 $ '
Hence: T ( AB) = T (BA) = $………  ……… '
$0 0 0  1 '
# &
4. Homogeneous transformation (mixture)
Homogeneous transformation matrix can be synthesized together many times =>
Homogeneous transformation matrix (combination matrix)
Remark: - matrix multiplication is not commutative,
- Solids can be rotated around a axis of the fix system
or can be raotated around a axis of motional system
5. Represent transformations
U: vector point (before moving)
V: vector transformed point V = H.U
H: transformation matrix
P: plane containing the point (U); Q: plane containing the transformed point (V)
Hence: P.U = Q.V
=> P.H.H-1.U <=> P.H-1.H.U = P.U = Q.V = Q.(H.U)
=> P.H-1 = Q, or Q.H = P
 - Translational transformations
- Rotation
5.1. Translational tranformation
Translation: 1 point or solid with the vector
   
H = ai + bj + ck U = [ x, y, z, w ]T
U is vector of point (before moving)
Transformation matrice H

Hence, vector transformed points V is determinded.

V = Trans(a b c).U
Vector transformed points V is determinded:
!x $
# + a &
! !
$ x $ ! $
x + aw # w &
1 0 0 a
# &# y & # y + bw & # y &
0 1 0 b # & # & + b
V = H.U = # & = = #w &
# 0 0 1 c &# z & # z + cw & # &
# 0 0 0 1 &# & # & # z + c&
" %"w% "w % #w &
#"1 &%

Example:

⃗
𝐮 = 𝟐$⃗ + 𝟑(⃗ + 𝟐𝐤

⃗𝐡 = 4$⃗ − 3(⃗ + 7𝐤
⃗
5.2. Rotation:
Rotate: 1 point or solid around x; y; or z axe with the
angle q°, transformation matrix are:
Example:
Point u,
rotate around z, angle θ = 900 ; followed y, angle 900

Hence, composition of rotation is represented by multiplication of rotation matrices:

Remark:
W = Rot(y,90°)Rot(z,90°)U ¹ W' = Rot(z,90°)Rot(y,90°)U
 Euler rotation matrix, describe capabilities for orientation
- Rotate an angle y, around the axis z
- Continue, rotate an angle q, around the y’ axis (new axis of y)
- Finally rotate an angle F around the new axis z- z’’

z z’
Euler rotations in y
the standard z’’
F
y’’
F
coordinate system q
y’’
y’
F y

x y x’

x’’
 5.3. Description a solid
Object of the robot: 3 main groups object

- Objects of revolution (Rotate): characteristics are are

the coordinates of the center and curved radius
- Objects of edges (Prismatic): characterized by the coordinates of the critical point

- Object of Structured synthesis (Combination): characterized by the aggregate values

Description the object must be associated with the homogeneous transformations

A primatic object, O(xyz):

Have the matrix with

the coordinate of 6 points