Rivelazione Sulla Terna Fissa

Lecture 3: Kinematics:
Rigid Motions and Homogeneous Transformations
Composition of Rotations:
Rotations with Respect to the Current Frame
Rotations with Respect to the Fixed Frame
Example
c Anton Shiriaev. 5EL158: Lecture 3 p. 1/15
Example
Parameterizations of Rotations:
Euler Angles
Roll, Pitch and Yaw Angles
Axis/Angle Representation
Example
Euler Angles

What Have We Learned:
Given N-frames in the 3-dimensional space
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
If we are given (N 1)-rotation matrices
R
0
1
, R
1
2
, . . . , R
(N2)
(N1)
that represent consecutive rotation between the current frames
_
(x
0
y
0
z
0
), (x
1
y
1
z
1
)
_
,
_
(x
1
y
1
z
1
), (x
2
y
2
z
2
)
_
, . . . ,
_
(x
N2
y
N2
z
N2
), (x
N1
y
N1
z
N1
)
_
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
R
0
1
, R
1
2
, . . . , R
(N2)
(N1)
that represent consecutive rotations between the current frames
_
(x
0
y
0
z
0
), (x
1
y
1
z
1
)
_
,
_
(x
1
y
1
z
1
), (x
2
y
2
z
2
)
_
, . . . ,
_
(x
N2
y
N2
z
N2
), (x
N1
y
N1
z
N1
)
_
The formula to compute the position of the point in the 0-frame
having known its position in the 1-frame
p
0
= R
0
1
p
1
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
R
0
1
, R
1
2
, . . . , R
(N2)
(N1)
_
(x
0
y
0
z
0
), (x
1
y
1
z
1
)
_
,
_
(x
1
y
1
z
1
), (x
2
y
2
z
2
)
_
, . . . ,
_
(x
N2
y
N2
z
N2
), (x
N1
y
N1
z
N1
)
_
having known its position in the 2-frame
p
0
= R
0
1
p
1
, p
1
= R
1
2
p
2
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
R
0
1
, R
1
2
, . . . , R
(N2)
(N1)
_
(x
0
y
0
z
0
), (x
1
y
1
z
1
)
_
,
_
(x
1
y
1
z
1
), (x
2
y
2
z
2
)
_
, . . . ,
_
(x
N2
y
N2
z
N2
), (x
N1
y
N1
z
N1
)
_
having known its position in the (N 1)-frame
p
0
= R
0
1
p
1
, p
1
= R
1
2
p
2
, . . . , p
(N2)
= R
(N2)
(N1)
p
(N1)
(o
0
, x
0
, y
0
, z
0
), (o
1
, x
1
, y
1
, z
1
), . . . (o
N1
, x
N1
, y
N1
, z
N1
)
R
0
1
, R
1
2
, . . . , R
(N2)
(N1)
_
(x
0
y
0
z
0
), (x
1
y
1
z
1
)
_
,
_
(x
1
y
1
z
1
), (x
2
y
2
z
2
)
_
, . . . ,
_
(x
N2
y
N2
z
N2
), (x
N1
y
N1
z
N1
)
_
having known its position in the (N 1)-frame is
p
0
= R
0
1
R
1
2
R
2
3
R
(N2)
(N1)
p
(N1)
Example 2.8:
Find the rotation R dened by the following basic rotations:
1: A rotation of about the current axis x;
2: A rotation of about the current axis z

Example 2.8:

The total rotation will be then
R = R
x,
R
z,
Example 2.8:

R = R
x,
R
z,
For any point of the 2-frame with coordinates p
2
=
_
x
2
, y
2
, z
2
T
its coordinates in the 0-frame are computed simply as
p
0
= Rp
2
=
_
R
x,
R
z,
p
2
Example 2.8:
3: A rotation of about the xed axis z

Example 2.8:

R = R
x,
R
z,
R
3
Example 2.8:

R = R
x,
R
z,
R
3
We have computed this rotation as
R
3
=
_
R
x,
R
z,
1
R
z,
_
R
x,
R
z,

Example 2.8:

R = R
x,
R
z,
R
3
= R
z,
R
x,
R
z,
R
3
=
_
R
x,
R
z,
1
R
z,
_
R
x,
R
z,

Example 2.8:
4: A rotation of about the current axis y

Example 2.8:

R = R
x,
R
z,
R
3
R
y,
=
_
R
z,
R
x,
R
z,
R
y,
Example 2.8:
5: A rotation of about the xed axis x

Example 2.8:

R = R
z,
R
x,
R
z,
R
y,
R
5
Example 2.8:

R = R
z,
R
x,
R
z,
R
y,
R
5
R
5
=
_
R
z,
R
x,
R
z,
R
y,
1
R
x,

_
R
z,
R
x,
R
z,
R
y,

Example 2.8:

R = R
x,
R
z,
R
x,
R
z,
R
y,
R
5
=
_
R
z,
R
x,
R
z,
R
y,
1
R
x,

_
R
z,
R
x,
R
z,
R
y,

Example
Euler Angles

Any rotation matrix R is
of dimension 3 3, i.e. it is 9-numbers
belongs to SO(3), i.e.
its 3 columns are vectors of length 1 (3 equations)
its 3 columns are orthogonal to each other (3 equations)

Any rotation matrix R is
of dimension 3 3, i.e. it is 9-numbers
belongs to SO(3), i.e.
its 3 columns are vectors of length 1 (3 equations)
its 3 columns are orthogonal to each other (3 equations)

Except the particular cases, only 3 of 9
numbers that parameterize the rotation matrix,
can be assigned freely!
Euler Angles:
Euler angles are angles of 3 rotations about current axes
R
ZY Z
:= R
z,
R
y,
R
z,
Euler Angles:
R
ZY Z
:=
_
_
c
0
s
0
0 0 1
_
_
R
y,
R
z,
Euler Angles:
R
ZY Z
:=
_
_
c
0
s
0
0 0 1
_
_
c
0 s
0 1 0
s
0 c
_
R
z,
Euler Angles:
R
ZY Z
:=
_
_
c
0
s
0
0 0 1
_
_
c
0 s
0 1 0
s
0 c
_
c
0
s
0
0 0 1
_
_
Roll, Pitch Yaw Angles:
Roll, pitch and yaw angles are angles of 3 rotations about the
xed axes x, y and z
R
xyz
:= R
z,
R
y,
R
x,
Roll, pitch and yaw angles are angles of 3 rotations
about the xed axes x, y and z
R
xyz
:= R
z,
R
y,

_
_
1 0 0
0 c
0 s
_
R
xyz
:= R
z,
_
c
0 s
0 1 0
s
0 c
_
1 0 0
0 c
0 s
_
R
xyz
:=
_
_
c
0
s
0
0 0 1
_
_
c
0 s
0 1 0
s
0 c
_
1 0 0
0 c
0 s
_
Axis/Angle Representation for a Rotation Matrix:
Any rotational matrix can be expressed as a rotation of angle
about an axis k = [k
x
, k
y
, k
z
]
T
R
k,
= R R
z,
R
1
, R = R
z,
R
y,
Example
Euler Angles

Rigid Motions
A rigid motion is an ordered pair (R, d), where R SO(3) and
d R
3
. The group of all rigid motions is known as Special
Euclidean Group denoted by SE(3).
Rigid Motions
d R
3
It is the way to compute coordinates in different frames
p
0
= R
0
1
p
1
+ d
0
Rigid Motions
d R
3
It is the way to compute coordinates in different frames
p
0
= R
0
1
p
1
+ d
0
If there are 3 frames corresponding to 2 rigid motions
p
1
= R
1
2
p
2
+ d
1
2
p
0
= R
0
1
p
1
+ d
0
1
then the overall motion is
p
0
= R
0
1
R
1
2
p
2
+ R
0
1
d
1
2
+ d
0
1
Concept of Homogeneous Transformation
HT is just a convenient way to write the formula
p
0
= R
0
1
R
1
2
p
2
+ R
0
1
d
1
+ d
0
p
0
= R
0
1
R
1
2
p
2
+ R
0
1
d
1
+ d
0
Given two rigid motions (R
0
1
, d
0
1
) and (R
1
2
, d
1
2
), consider the
product of two matrices
_
R
0
1
d
0
1
0
13
1
_ _
R
1
2
d
1
2
0
13
1
_
=
_
R
0
1
R
1
2
R
0
1
d
1
2
+ d
0
1
0
13
1
_
p
0
= R
0
1
R
1
2
p
2
+ R
0
1
d
1
+ d
0
0
1
, d
0
1
) and (R
1
2
, d
1
2
), consider the
_
R
0
1
d
0
1
0
13
1
_ _
R
1
2
d
1
2
0
13
1
_
=
_
R
0
1
R
1
2
R
0
1
d
1
2
+ d
0
1
0
13
1
_
p
0
= R
0
1
R
1
2
p
2
+ R
0
1
d
1
+ d
0
0
1
, d
0
1
) and (R
1
2
, d
1
2
), consider the
_
R
0
1
d
0
1
0
13
1
_ _
R
1
2
d
1
2
0
13
1
_
=
_
R
0
1
R
1
2
R
0
1
d
1
2
+ d
0
1
0
13
1
_
Given a rigid motion (R, d) SE(3), the 4 4-matrix
H =
_
R d
0
13
1
_
is called homogeneous transformation associated with (R, d)
To use HTs in computing coordinates of points, we need to
extend the vectors p
0
and p
1
by one coordinate. Namely
P
0
=
_
p
0
1
_
, P
1
=
_
p
1
1
_
To use HTs in computing coordinates of points, we need to
extend the vectors p
0
and p
1
by one coordinate. Namely
P
0
=
_
p
0
1
_
, P
1
=
_
p
1
1
_
Then
P
0
=
_
p
0
1
_
=
_
R
0
1
p
1
+ d
0
1
_
=
_
R
0
1
d
0
0
13
1
_
. .
H
0
1
_
p
1
1
_
. .
P
1
that is in short
P
0
= H
0
1
P
1

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Lecture 3: Kinematics:

Rigid Motions and Homogeneous Transformations

Rotations with Respect to the Current Frame

Rotations with Respect to the Fixed Frame

Rotations with Respect to the Current Frame

Rotations with Respect to the Fixed Frame

Roll, Pitch and Yaw Angles

Rotations with Respect to the Current Frame

Rotations with Respect to the Fixed Frame

Roll, Pitch and Yaw Angles

Rigid Motions and Homogeneous Transformations

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

c Anton Shiriaev. 5EL158: Lecture 3 p. 4/15

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

c Anton Shiriaev. 5EL158: Lecture 3 p. 4/15

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

5: A rotation of about the xed axis x

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

5: A rotation of about the xed axis x

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

5: A rotation of about the xed axis x

c Anton Shiriaev. 5EL158: Lecture 3 p. 6/15

1: A rotation of about the current axis x;

2: A rotation of about the current axis z

3: A rotation of about the xed axis z

4: A rotation of about the current axis y

5: A rotation of about the xed axis x

c Anton Shiriaev. 5EL158: Lecture 3 p. 6/15

Rotations with Respect to the Current Frame

Rotations with Respect to the Fixed Frame

Roll, Pitch and Yaw Angles