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    Le 1 Chasles

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    Aditya Trivedi
    1) Chasles Theorem states that any rigid body motion can be described as a rotation about an axis followed by a translation along the same axis. 2) The document provides a proof of Chasles Theorem using homogeneous transformation matrices and basis changes to reveal the structure. 3) It shows that after a similarity transform, the transformation matrix represents a rotation about the z-axis followed by a translation along the z-axis, proving Chasles Theorem.

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    Le 1 Chasles

    Uploaded by

    Aditya Trivedi
    91 views2 pages
    1) Chasles Theorem states that any rigid body motion can be described as a rotation about an axis followed by a translation along the same axis. 2) The document provides a proof of Chasles Theorem using homogeneous transformation matrices and basis changes to reveal the structure. 3) It shows that after a similarity transform, the transformation matrix represents a rotation about the z-axis followed by a translation along the z-axis, proving Chasles Theorem.

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    Chasles Theorem Proof

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    le1Chasles

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    1) Chasles Theorem states that any rigid body motion can be described as a rotation about an axis followed by a translation along the same axis. 2) The document provides a proof of Chasles Theorem using homogeneous transformation matrices and basis changes to reveal the structure. 3) It shows that after a similarity transform, the transformation matrix represents a rotation about the z-axis followed by a translation along the z-axis, proving Chasles Theorem.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    91 views2 pages

    Le 1 Chasles

    Uploaded by

    Aditya Trivedi
    1) Chasles Theorem states that any rigid body motion can be described as a rotation about an axis followed by a translation along the same axis. 2) The document provides a proof of Chasles Theorem using homogeneous transformation matrices and basis changes to reveal the structure. 3) It shows that after a similarity transform, the transformation matrix represents a rotation about the z-axis followed by a translation along the z-axis, proving Chasles Theorem.

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    Chasles Theorem

    Thomas Schön
    Division of Automatic Control
    Linköping University
    SE–58183 Linköping, Sweden.
    E-mail: schon@isy.liu.se
    November 19, 2008

    Chasles theorem is one of the most fundamental results in kinematics.


    Theorem 1 (Chasles) Every rigid body motion can be realized by a rotation
    about an axis combined with a translation parallel to that axis.
    Proof 1 Consider a general 4 × 4 homogeneous transformation matrix
     
    R d
    A= (1)
    0 1
    In order to continue we will now change bases in order reveal the structure. This
    can be done by perform a similarity transform of the A-matrix according to
     T
    −QT c
      T
    Q RQ QT Rc − QT c + QT d
      
    Q R d Q c
    Λ= = (2)
    0 1 0 1 0 1 0 1
    Let us start investigating the rotation part, i.e., the upper left 3 × 3 sub-matrix
    of Λ. The Q matrix can now be chosen according to
    
    Q = v 1 v2 u (3)
    where u is the eigenvalue of R corresponding to eigenvalue 1 (more specifically
    it is the axis of rotation). The other two vectors v1 and v2 are chosen so that
    they together with u form a real basis. This implies that the 3 × 3 upper left part
    (QT RQ) of Λ is reduced to a rotation about the z axis according to
     
    cos ϕ − sin ϕ 0
    QT RQ =  sin ϕ cos ϕ 0 (4)
    0 0 1
    When it comes to the translation, we have that
    QT Rc − QT c + QT d = (QT RQ − I)QT c + QT d. (5)
    Let us now define
    c̄ = QT c, (6a)
    d¯ = QT d, (6b)
    (6c)
    allowing us to write (5) according to

    d¯x
        
    cos ϕ − 1 − sin ϕ 0 c̄x
     sin ϕ cos ϕ − 1 0   c̄y + d¯y 
      (7)
    0 0 0 c̄z d¯z

    If the top 2 × 2 matrix of (QT RQ − I) is nonsingular we can solve the first two
    equations of

    (QT RQ − I)c̄ = −d¯ (8)

    for c̄x and c̄y and, without loss of generality, let c̄z = 0. In that case we have Λ
    in the form
     
    cos ϕ − sin ϕ 0 0
     sin ϕ cos ϕ 0 0
    Λ=  0
     (9)
    0 1 k
    0 0 0 1

    where k is given by the third component in

    d¯ = QT d. (10)

    Hence, the rigid body motion is described by a rotation about the z-axis through
    an angle ϕ followed by a translation along the z-axis through a distance k.
    If the top 2 × 2 submatrix of (QT RQ − I) is singular, then QT RQ = I. This
    means that Λ is a pure translation.

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