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Lec 04

The document discusses homogeneous transformation matrices in robotics, detailing their role in representing rotations and translations in 3D space using homogeneous coordinates. It explains the importance of these matrices for solving kinematics problems, facilitating coordinate transformations, and aiding in robot control and simulation. Additionally, it covers the components of industrial robots and the concept of degrees of freedom (DoF) in robotic movement.

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16 views15 pages

Lec 04

The document discusses homogeneous transformation matrices in robotics, detailing their role in representing rotations and translations in 3D space using homogeneous coordinates. It explains the importance of these matrices for solving kinematics problems, facilitating coordinate transformations, and aiding in robot control and simulation. Additionally, it covers the components of industrial robots and the concept of degrees of freedom (DoF) in robotic movement.

Uploaded by

tahasinaalam02
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Homogeneous Transformation

Matrices in Robotics
Lec-4

Presented By-
Nure Hafsa Shefa (20CSE018)
Rotation in 3D

Rotate over angle θ around x-as: Rotate over angle θ around y-as: Rotate over angle θ around z-as:
x′ = x x′ = x cos θ + z sin θ x′ = x cos θ - y sin θ
y′ = y cos θ - z sin θ y′ = y y′ = x sin θ + y cos θ
z′ = y sin θ + z cos θ z′ = z cos θ - x sin θ z′ = z
Composite Rotations: Yaw-Pitch-Roll

Imagine three lines running through an airplane and intersecting at right angles at the airplane's
center of gravity.
● Rotation around the front-to-back axis is called roll.
● Rotation around the side-to-side axis is called pitch.
● Rotation around the vertical axis is called yaw.
Homogeneous Coordinates (Observation)

● We need pure rotations and translations to characterize


the position and orientation of a point relative to the
coordinate frame attached to the base.

● While a rotation can be represented by a 3x3 matrix, it is


not possible to represent translation by the same dimension.

● So, we need to move to a higher dimensional space, like-


here we need four dimensional space of homogeneous
coordinates.
Homogeneous Coordinates (Definition)

Let q be a point in R³, and let F be an orthonormal coordinate


frame of R³. If σ is any non zero scale factor, then the
homogeneous coordinates of q with respect to F are denoted as
[q]F and defined:

[q]・F = [ σ・q1, σ・q2, σ・q3, σ]

In robotics we use σ = 1 for convenience So,

[q]F = [q1, q2, q3, 1]


Homogeneous Transformation Matrix

If a physical point in three dimensional space is expressed in terms of its homogeneous


coordinates and we want to change from one coordinate frame to another, we use a 4x4
homogeneous transformation matrix. In general T is —

● R is the 3x3 matrix rotation matrix


● P is a 3x1 translation vector
● η is a perspective vector, set to zero
● σ is 1 for robotics
Homogeneous Transformation Matrix

Using homogeneous coordinates, translations also can be represented by 4x4 matrices. In


terms of homogeneous coordinate frames, the translation of M can be represented by a 4x4
matrix, denoted Tran(p), where —

Tran(p) is known as the fundamental


homogeneous translation matrix
Inverse Homogeneous Transformation

If T be a homogeneous transformation matrix with rotation R and translation P between two


orthonormal coordinate frames and if η = 0, σ = 1, then the inverse transformation is:
Why Transformation Matrices are important?

● Solve forward and inverse kinematics problems.


● Facilitate coordinate transformations between different components of a robot.
● Enable accurate manipulator control and trajectory planning.
● Support workspace analysis and collision avoidance.
● Integrate sensor data into the robot's coordinate system.
● Assist in robot calibration for improved accuracy.
● Aid in robot simulation and visualization.
Components of an Industrial Robot

The four main parts of an industrial robot are


—
● Manipulator,
● Controller,
● Human interface device, and
● Power supply.
Components of an Industrial Robot

The four main parts of an industrial robot are


—
● Manipulator,
● Controller,
● Human interface device, and
● Power supply.
Degrees of Freedom (DoF)

● In general, degrees of freedom (DOF) are the set of


independent displacements that specify completely
the displaced or deformed position of the body or
system.
● In robotics, degrees of freedom is often used to
describe the number of directions that a robot can
move a joint.
Degrees of Freedom (DoF)

● A human arm is considered to have 7 DOF. A


shoulder gives pitch, yaw and roll, an elbow allows
for pitch, and a wrist allows necessary to move the
hand to any point in space, but people would lack the
ability to grasp things from different angles or
directions.
● A robot (or object) that has mechanisms to control all
6 physical DOF is said to be holonomic. An object
with fewer controllable DOF than total DOF is to be
non- holonomic and an object with more controllable
DOF than total DOF (such as human arm) is said to
be redundant.
Any Question???

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