Nagamanikandan Govindan
Robotics Research Center, IIIT Hyderabad.
nagamanikandan.g@iiit.ac.in
Robot design, Mobile manipulation, Hybrid robots, Grasper, Redundant and
Underactuated robots, Optimal control, Mechatronic system design
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Orientation
Cartesian coordinates (x,y,z) are an easy and natural means of
representing a position in 3D space
Is there a simple means of representing a 3D orientation?
(analogous to Cartesian coordinates?)
- Not really.
There are several popular options though:
Euler angles
Rotation vectors (axis/angle)
3x3 matrices
Quaternions
and more…
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Points and Coordinate Frames
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Viewing a Transformation
Active: Move the object, keep the surrounding space
(coordinates) fixed
Passive: Keep the object fixed, move the surrounding space
(coordinates)
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Points and Coordinate Frames
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Points and Coordinate Frames
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Points and Coordinate Frames
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Points and Coordinate Frames
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Coordinate Transformation
)
Rearrange
)
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Planar Rotation
Compare ) and
The coordinates of any point in the frame (B ) can be
written in the frame as
Any vector in the frame (B ) can be written in the
frame as
A B
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Properties: Rotation Matrix
is an example of an implicit representation of the C-
space.
The actual 1D is obtained by applying 3 constraints to 4D
space of matrices.
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3D Rotation
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3D Rotation
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3D Rotation
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Rotation: Cosine Transformation
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3D Rotation Properties
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Euler’s Theorem
Euler’s Theorem:
Any two independent orthonormal coordinate frames can be
related by a sequence of rotations (not more than three)
about coordinate axes, where no two successive rotations may
be about the same axis.
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Euler Angles
We can represent an orientation with 3 numbers
This gives us 12 redundant ways to store an orientation using
Euler angles
Assuming we limit ourselves to 3 rotations without successive
rotations about the same axis, we could use any of the
following 12 sequences:
XYZ XZY XYX XZX
YXZ YZX YXY YZY
ZXY ZYX ZXZ ZYZ
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Euler ZYX Convention
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ZYZ - Euler Angles
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3D Rotation: Euler Angles to Matrix Conversion
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3D Rotation: Z-Y-Z Euler angles to Matrix Conversion
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