Ch02 2

Robotics and Control
Chapter 2:
Rigid-Body Motions
Overview
• Angular Velocities
• Exponential Coordinate of Rotation
• Homogeneous Transform Matrices
• Twists
• Wrenches
2
2D Angular Movement
• Angular displacement
𝒔 = 𝒓𝜽
• Angular velocity
𝚫𝜽 𝜽𝒇 − 𝜽𝒊
𝝎= =
𝚫t 𝒕𝒇 − 𝒕𝒊
• Linear speed at r
𝚫𝐬 𝐫𝚫𝜽
𝒗𝒕 = = = 𝒓𝝎
𝚫𝐭 𝚫𝐭
3
3D Angular Movement
• Angular velocity is a 3D pseudovector

perpendicular to the plane of rotation
𝝎=𝝎 ෝ 𝜽ሶ
4
3D Angular Velocities
• Suppose a frame with unit axes is attached to a rotating body

• If the body rotates with angle 𝚫𝜽 about some unit axis 𝒘 ෝ passing
through the origin after 𝚫𝒕, the angular velocity w is defined as
𝜟𝜽
ෝ 𝜽,ሶ where 𝜽=
𝒘=𝒘 ሶ 𝐥𝐢𝐦
𝜟𝒕→𝟎 𝜟𝒕
• Then
5
Angular Velocities at the Fixed Frame {s}
• Let 𝑅(𝑡) be the rotation matrix describing the orientation of the body
frame w.r.t to the fixed frame at the time t
• ሶ
Then its time rate of change is 𝑹(t)
• Let 𝝎𝒔 be the angular velocity w expressed in fixed-frame coordinates.
= 𝒓𝟏 𝒕 𝒓𝟐 𝒕 𝒓𝟑 𝒕
⇒ 𝒓𝟏ሶ = 𝝎𝒔 × 𝒓𝟏 , 𝒓𝟐ሶ = 𝝎𝒔 × 𝒓𝟐 , 𝒓𝟑ሶ = 𝝎𝒔 × 𝒓𝟑
𝑹ሶ 𝒕 = 𝝎𝒔 × 𝒓𝟏 𝝎𝒔 × 𝒓𝟐 𝝎𝒔 × 𝒓𝟑 = 𝝎𝒔 × 𝑹
6
Angular Velocities at the Fixed Frame {s}
• Now we have 𝐭𝐡𝐚𝐭 𝑹ሶ = 𝝎𝒔 × 𝑹

– We can use skew symmetric matrix representation of 𝝎𝒔
Then 𝑹ሶ = 𝝎𝒔 × 𝑹 = 𝝎𝒔 𝑹
𝝎𝒔 = 𝑹𝑹ሶ −𝟏
7
Angular Velocity in the body frame {b}
• Now we write 𝑅 explicitly as 𝑹𝒔𝒃

Then 𝝎𝒔 = 𝑹𝒔𝒃 𝝎𝒃 = 𝑹𝝎𝒃
and 𝝎𝒃 = 𝑹−𝟏 𝝎𝒔 = 𝑹𝑻 𝝎𝒔
[𝝎𝒃 ] = [𝑹𝑻 𝝎𝒔 ] = 𝑹𝑻 𝒘𝒔 𝑹 (Proposition 3.8: 𝑹 𝝎 𝑹𝑻 = 𝑹𝝎 )

=𝐑𝐓 𝑹𝑹ሶ −𝟏 𝑹 ሶ −𝟏)
( 𝝎𝒔 = 𝑹𝑹
=𝑹𝑻 𝑹ሶ
8
Angular Velocities Summary
9
Screw Motion
• Rotation-followed-by-translation (R,p) can be expressed as

a rotation about a fixed point s by an angle 𝜷 .
• Can be parameterized by three screw coordinates
(𝜷, 𝒔𝒙 , 𝒔𝒚 )
• Axis-angle representation
– axis 𝝎
ෝ = {𝒔𝒙 , 𝒔𝒚 } , angle 𝜽 = 𝜷
10
Exponential coordinates
• We can represent the screw motion as the displacement obtained by

following simultaneous angular and linear velocities for a given
distance.
𝝅
– Angular velocity 1 rad/s, Linear velocity (2,0) will reach the destination at 𝜽 =
𝟐
– Screw axis with ω=1:
– The displacement:
– Twist: the combination of angular and linear velocity,
11
Exponential Coordinate
Representation of Rotations
• We can represent a 3D rotation (with rotation matrix R)
ෝ which serves as the 3-parameter
as a 3D vector 𝝎𝜽,
exponential coordinate representation of the rotation
ෝ is the rotation axis and 𝜽 is the rotation angle
– 𝝎
– Writing 𝝎ෝ and 𝜽 individually is the axis-angle representation of
a rotation.
12
Representation of Rotation
• Linear differential equation

– For scalar 𝒙 and 𝑨
– What happens if ?
• Same solution with matrix exponential
13
Representation of Rotations
• Rotating a vector p(0) by an angle of 𝜽 about the axis 𝒘 ෝ is the same as

rotating p(0) at a constant rate of 1 rad/s from time t=0 to t=𝜽
Known as Rodrigues’ formula for rotations

• ෝ and an angle 𝜽‼
Now we can construct a rotation matrix from a rotation axis 𝒘
14
E.C.R.R. Example
15
Matrix Logarithm of Rotations
𝑹 = 𝒆 𝝎ෝ 𝜽
• Which means that:
– We can find a rotation matrix R from any
ෝ and scalar 𝜽
unit vector 𝝎
• What about the other way?
– We need the matrix logarithm!
16
17
18
Homogeneous Transform Matrices
Packaging the R and p in a single matrix
19
Twists
• Similar to the property 𝑹−𝟏 𝑹ሶ = [𝝎𝒃 ],
• Body twist (spatial velocity in the body frame )

linear velocity 𝒗𝒃 and angular velocity 𝝎𝒃 merged into a
single 6D velocity vector
se(3) notation:
se(3) is called the Lie algebra of the Lie group SE(3)

20
Spatial twist
ሶ 𝑻 𝒑 is not the linear velocity of the body-frame

• 𝒗𝒔 = 𝒑ሶ − 𝑹𝑹
origin expressed in the fixed frame!! (which is just 𝒑) ሶ
21
Adjoint Representation
22
Twist Example
23
Twist Example
24
Screw Motion Revisited
• Rotation-followed-by-translation (R,p) can be expressed as

a rotation about a fixed point s by an angle 𝜷 .
• Can be parameterized by three screw coordinates
(𝜷, 𝒔𝒙 , 𝒔𝒚 )
𝐒 = 𝝎, 𝒔𝒙 , 𝒔𝒚 = 𝟏, 𝟐, 𝟎 : a representation of the screw axis.
25
3D Screw Axis
• A twist 𝑉 can be interpreted in terms of a screw axis

𝑆 and a velocity 𝜽ሶ about the screw axis.
– One representation of 𝑆: {𝐪, 𝒔ො , 𝒉}
• 𝐪: any point on the axis
• 𝒔ො : a unit vector in the direction of the axis
• 𝒉: the screw pitch, the ratio of the linear velocity along
the screw axis to the angular velocity 𝜽ሶ about the screw
axis.
26
3D Screw Axis
• 2D screw motion +
forward translating motion along the screw axis
– One representation of 𝑆: {𝐪, 𝒔ො , 𝒉}

• 𝐪: any point on the axis
• 𝒔ො : a unit vector in the direction of the axis
• 𝒉: the screw pitch, the ratio of the linear velocity along the
screw axis to the angular velocity 𝜽ሶ about the screw axis.
27
3D Screw Axis and Twist
• A twist 𝑉 can be interpreted in terms of a screw axis

𝑆 and a velocity 𝜽ሶ about the screw axis.
28
Screw axis and twist
• Relationship between the twist 𝑉 and screw axis 𝑆
– For any 𝑉 = {𝝎, 𝒗} there exists an equivalent screw axis {𝐪, 𝒔ො , 𝒉}

and velocity 𝜽ሶ that satisfies the relationship
• 𝒔ො = 𝝎/ 𝝎 , 𝜽ሶ = 𝝎, 𝐡 = 𝝎
ෝ 𝑻 𝒗/𝜽ሶ
• 𝐪 is chosen so that the term−ො𝒔𝜽ሶ × 𝒒 provide the portion of 𝒗 orthogonal to
the screw axis.
• If 𝝎 = 𝟎, then 𝐡 becomes infinite, 𝒔ො = 𝒗/ 𝒗 , 𝜽ሶ is the linear velocity 𝒗
along 𝒔ො
Problem: cumbersome representation, 𝐪 is not unique
29
Screw axis as a normalized twist
30
Exponential Coordinate Representation
of Rigid-Body Motions
31
Exponential Coordinate Representation
of Rigid-Body Motions
32
Matrix Logarithm of Rigid-
Body Motions
33
3.4 Wrenches
Linear force f acting on rigid body at point r

from reference frame a
– Torque created: 𝒎𝒂 = 𝒓𝒂 × 𝒇𝒂
– Wrench (spatial force):
34
Summary
35

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Robotics and Control

• Angular velocity is a 3D pseudovector

• Suppose a frame with unit axes is attached to a rotating body

⇒ 𝒓𝟏ሶ = 𝝎𝒔 × 𝒓𝟏 , 𝒓𝟐ሶ = 𝝎𝒔 × 𝒓𝟐 , 𝒓𝟑ሶ = 𝝎𝒔 × 𝒓𝟑

• Now we have 𝐭𝐡𝐚𝐭 𝑹ሶ = 𝝎𝒔 × 𝑹

• Now we write 𝑅 explicitly as 𝑹𝒔𝒃

[𝝎𝒃 ] = [𝑹𝑻 𝝎𝒔 ] = 𝑹𝑻 𝒘𝒔 𝑹 (Proposition 3.8: 𝑹 𝝎 𝑹𝑻 = 𝑹𝝎 )

• Rotation-followed-by-translation (R,p) can be expressed as

• We can represent the screw motion as the displacement obtained by

• Linear differential equation

• Rotating a vector p(0) by an angle of 𝜽 about the axis 𝒘 ෝ is the same as

Known as Rodrigues’ formula for rotations

• Body twist (spatial velocity in the body frame )

se(3) is called the Lie algebra of the Lie group SE(3)

ሶ 𝑻 𝒑 is not the linear velocity of the body-frame

• Rotation-followed-by-translation (R,p) can be expressed as

• A twist 𝑉 can be interpreted in terms of a screw axis

– One representation of 𝑆: {𝐪, 𝒔ො , 𝒉}

• A twist 𝑉 can be interpreted in terms of a screw axis

• Relationship between the twist 𝑉 and screw axis 𝑆

– For any 𝑉 = {𝝎, 𝒗} there exists an equivalent screw axis {𝐪, 𝒔ො , 𝒉}

Problem: cumbersome representation, 𝐪 is not unique

Linear force f acting on rigid body at point r

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