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    Cse5410 2

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    Rida ahmed
    This document summarizes key concepts from a chapter on rotation kinematics, including: 1) Representing rigid body rotation using a body frame that rotates within a global frame. 2) Calculating matrix operations like multiplication, transposition, and inversion that are used to represent rotations. 3) Describing rotation about global and local Cartesian axes using transformation matrices and determining roll-pitch-yaw angles. 4) Working through examples of successive rotations about global and local axes to find the resulting position of points on a rigid body.

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    Cse5410 2

    Uploaded by

    Rida ahmed
    19 views33 pages
    This document summarizes key concepts from a chapter on rotation kinematics, including: 1) Representing rigid body rotation using a body frame that rotates within a global frame. 2) Calculating matrix operations like multiplication, transposition, and inversion that are used to represent rotations. 3) Describing rotation about global and local Cartesian axes using transformation matrices and determining roll-pitch-yaw angles. 4) Working through examples of successive rotations about global and local axes to find the resulting position of points on a rigid body.

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    This document summarizes key concepts from a chapter on rotation kinematics, including: 1) Representing rigid body rotation using a body frame that rotates within a global frame. 2) Calculating matrix operations like multiplication, transposition, and inversion that are used to represent rotations. 3) Describing rotation about global and local Cartesian axes using transformation matrices and determining roll-pitch-yaw angles. 4) Working through examples of successive rotations about global and local axes to find the resulting position of points on a rigid body.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    19 views33 pages

    Cse5410 2

    Uploaded by

    Rida ahmed
    This document summarizes key concepts from a chapter on rotation kinematics, including: 1) Representing rigid body rotation using a body frame that rotates within a global frame. 2) Calculating matrix operations like multiplication, transposition, and inversion that are used to represent rotations. 3) Describing rotation about global and local Cartesian axes using transformation matrices and determining roll-pitch-yaw angles. 4) Working through examples of successive rotations about global and local axes to find the resulting position of points on a rigid body.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 33

    California State University, San Bernardino

    School of Computer Science and Engineering

    CSE 5410 Robotics and

    Control

    Lecture. 2 : Chap. 2,

    Rotation Kinematics

    Fall, 2022
    Instructor :
    DuckJin Chung,Ph. D.
    1
    Chapter 2. Rotation Kinematics

    - We represent the rigid body by a body coordinate frame B, that


    rotates in another coordinate frame G.

    2
    California State University, San Bernardino
    School of Computer Science and Engineering

    3
    2.0. Matrix Calculation

    1. The rule for multiplying is : go across the first matrix, and down
    the second matrix, multiplying the corresponding entries, and
    adding the products.

    Scalar Multiplication

    4
    2. Transpose

    Example

    5
    3. The Identity Matrix

    Example

    4. Determinants

    6
    5. Minors
    Example

    6. Minors and Cofactors

    7
    7. Determinant of a 3X3 Matrix
    Example

    2.4.(-2) + 1.3.(-5) + (-1).0.0 - 2.0.3 – 1.0(-2) – (-1).4.(-5) = -16 – 15 + 0 - 0 - 0 - 20 = -51

    8. Inverse of a 2X2 Matrix

    8
    8.1 Determinant of a 3X3 Matrix

    9
    10 Linear Systems

    10
    10 Orthogonal Matrix
    The inverse of an orthogonal matrix is simply the transpose of that
    matrix

    Example : a = cos , , b = -sin , c= sin , d = cos

    11
    11. Eigenvalues and Eigenvetors
    Eigenvalue( ) : Any number such that a given matrix minus that
    number times the identity matrix has zero determinant
    Eigenvector (x) : A nonzero vector that is mapped by a given linear
    transformation of a vector space onto a vector that is the product of
    a scalar multiplied by the original vector
    Matrix (A) : The matrix that we use
    Ax = x, (A - I)x = 0

    A= (A - I)x = x=0

    x1 = (1, 1), x2 = (-1, 1)

    12
    2.1. Rotation About Global Cartesian Axes

    If the rigid body B rotates degree about the Z-axis of the global
    coordinate frame, then coordinates of any point P of the rigid body
    in the local and global coordinate frames are related by the following
    equation.

    13
    14
    Proof

    15
    16
    17
    Example 3 Successive rotation about global axes
    P1(5, 30, 10) will be rotated by 30 deg about the Z- axis,
    followed by 30 deg about the X-axis, and then 90 deg about the Y-axis

    18
    Example 4 Time dependent global rotation
    If a point P is moved to , after a 60 deg rotation
    About the Z-axis, its position in the local coordinate is

    19
    Example 6 Successive global rotation matrix

    20
    Example 7 Successive global rotations, global position

    21
    Example 10 Repeated rotation about global axis

    22
    Problem 6. Global rotation of a cube.
    Fig. 2.20 illustrates the original position of a cube with a fixed
    Point a D and edges of length L = 1.
    (a)Coordinates of the corners after rotation of 30deg about Z-axis ?
    [x2, y2, z2] = [1, 1, 1]
    X2 = cos(30)x2 –sin(30)y2 = 0.866-0.5 =0.366.
    Y2 = sin(30)x2 + cos(30)y2 = 0.5 + 0.866 = 1.366
    Z2 = z2 = 1
    [X2, Y2, Z2] = [0.366, 1.366, 1]

    23
    2.3 Global Roll-Pitch-Yaw Angle
    The rotation about X-axis of the global coordinate frame is
    Called a roll, the rotation about the Y-axis of the global coordinate
    frame is called a pitch, and the rotation about the Z-axis of the
    global coordinate frame is called a yaw. The global roll-pitch-yaw
    rotation matrix is

    24
    Example 11 Determination of roll-pitch-yaw angles.
    Let us determine the required roll-pitch-yaw angles to make
    the x-axis of the body coordinate B parallel to u, while y-axis
    remains in (X, Y)-plane.

    25
    26
    27
    28
    2.4 Rotation About Local Cartesian Axes.
    If the body undergoes a rotation a bout the z-axis of its local
    Coordinate frame, as can be seen in the top shown in Fig. 20.

    29
    30
    31
    Example 14 Successive local rotation, global position
    The first actuator rotates the arm -90 deg about y-axis and then
    The second actuator rotates the arm 90deg about x-axis. If the end P
    Is at

    32
    2.5 Successive Rotation About Local Cartesian Axes
    The final global position of a point P in a rigid body B with
    position vector r, after some rotation A1, A2, A3, …, An about the
    local axes can be found by

    33

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