Introduction to Robotics

Chapter 2. Rotation Kinematics

Dr. Tran Minh Thien

HCMUTE, Faculty of Mechanical Engineering

Department of Mechatronics
Introduction to Robotics 2 C2. Rotation Kinematics

𝑥, 𝑦, 𝑧, 𝛼, 𝛽, 𝛾

Forward
Kinematics

Inverse
Kinematics

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 3 C2. Rotation Kinematics

Consider a rigid body with a fixed point O. Rotation about the

fixed point O is the only possible motion of the body.
The rigid body is defined
by a body coordinate
frame B (Oxyz), that
rotates in another
coordinate frame G
(OXYZ)

⇒ A rotation calculus of
a body point P in both
frames is determined a
A rotated body frame B in a fixed global frame transformation
G, about a fixed point at O
matrices.

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Introduction to Robotics 4 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Z-axis of the global coordinate frame
• The rigid body B rotates α radians about the Z-axis of the global
coordinate frame.
r2 =  x2 y2 z2  in local frame
B T

• Point P2 of the rigid body:

r2 =  X 2 Y2 Z 2  in global frame
G T

⇒ Two frames are related as follows:

G
r2 = Q Z,α Br2
where Qz,𝛼 is the Z-rotation matrix ?!

cos  − sin  0
Q Z,α =  sin  cos  0
 
 0 0 1 

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Introduction to Robotics 5 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Y-axis of the global coordinate frame
• Similarly, rotation β degrees about the Y–axis of the global
frame relate the local and global coordinates.
• Consider point P: B r =  x z
T
y
G
r = Q Y,β Br
where QY,𝛽 is the Y-rotation matrix

 cos  0 sin  
Q Y,β = 0 1 0 
 
 − sin  0 cos  

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Introduction to Robotics 6 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

X-axis of the global coordinate frame
• Finally, rotation γ degrees about the X–axis of the global frame
relate the local and global coordinates.
• Consider point P: B r =  x z
T
y
G
r = Q X,γ Br
where QX,𝛾 is the X-rotation matrix

1 0 0 
Q X,γ = 0 cos  − sin  
 
0 sin  cos  

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Introduction to Robotics 7 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Example 1: Successive rotation about global axes.
The final position of the corner P (5, 30, 10) of the slab after
30 [deg] rotation about the Z-axis, followed by 30 [deg] about the
X-axis, and then 90 [deg] about the Y-axis. Can find the final global
position of the corner P?

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 8 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Example 1: Successive rotation about global axes.

G
r2 = Q Z,α Br2

G
r = Q X,γ Br

G
r = Q Y,β Br

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Introduction to Robotics 9 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Example 1: Successive rotation about global axes.

Corner P and the slab at first, second, third, and final positions

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Introduction to Robotics 10 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes

Example 2: Global rotation, local position.
A point P is moved to Gr2 = [4, 3, 2]T after a 60 [deg]
rotation about the Z-axis. Find its position in the local coordinate?

G
r2 = Q Z,α Br2
−1 G
 Br2 = Q Z,α r2
B
r2 = Q -1Z,60G r2 

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Introduction to Robotics 11 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes

A sequence of rotations
• The final global position of a point P in a rigid body B with
position vector r, after a sequence of rotations Q1, Q2, Q3, ..., Qn
about the global axes can be found by
G
r = G Q B Br

where the global rotation matrix,

G
Q B = Qn ...Q 3Q 2Q1

• A rotation matrix is orthogonal; i.e., its transpose QT is equal to its

inverse Q−1.
Q T = Q -1

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Introduction to Robotics 12 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes

Example 3: Successive global rotation matrix.
• The global rotation matrix after a rotation QZ,α followed by QY,β
and then QX,γ is:?
G
Q B = Q X , QY , Q Z ,
1 0 0   cos  0 sin   cos  − sin  0
G
Q B = 0 cos  − sin    0 1 0   sin  cos  0
   
0 sin  cos    − sin  0 cos    0 0 1 
 c c −c s s 
G
Q B = c s + c s  s c c − s s  s −c s 
 
 s s − c c s  c s + c s s  c c 

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Introduction to Robotics 13 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes

Example 4: Successive global rotations, global
position.
• The end point P = [X1 Y1 Z1]T
of the arm shown in Figure.
• The rotation matrix to find the
new position of the end point
after −29 [deg] rotation about
the X-axis, followed by 30 [deg]
about the Z-axis, and again 132
[deg] about the X-axis.

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Introduction to Robotics 14 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes

Example 4: Successive global rotations, global
position.
The global rotation matrix is

The new position of point P is

G
r = G Q B Br

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2.2. Successive Rotation About Global Cartesian Axes

Twelve independent triple global rotations
• We may transform its body coordinate frame B from the
coincident position with a global frame G to any final orientation
by only three rotations about the global axes provided that no two
consequence rotations are about the same axis. In general, there
are 12 different independent combinations of triple rotations
about the global axes.

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Introduction to Robotics 16 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes

Global roll, pitch, and yaw rotations
The rotation about the X-axis of the global coordinate frame is
called a roll, the rotation about the Y-axis is called a pitch, and the
rotation about the Z-axis is called a yaw.

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Introduction to Robotics 17 C2. Rotation Kinematics

2.3. Rotation About Local Cartesian Axes

z-axis of the local coordinate frame
• Consider a rigid body B with a local coordinate frame B (Oxyz)
that is originally coincident with a global coordinate frame G
(OXYZ).
• The body undergoes a rotation φ about the z-axis of its local
coordinate frame.
⇒ Two frames are related as follows:
B
r = A z,φ G r
where Az,φ is the z-rotation matrix ?!

 cos  sin  0 
A z,φ =  − sin  cos  0 
 
 0 0 1 

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Introduction to Robotics 18 C2. Rotation Kinematics

2.3. Rotation About Local Cartesian Axes

x,y-axes of the local coordinate frame
Similarly, rotation θ about the y-axis and rotation ψ about the x-
axis of the local frame relate the local and global coordinates of
point P by the following equations
B
r = A y , G r
B
r = A x , G r
where Ay,θ is the y-rotation matrix and Ax,ψ is the x-rotation matrix

cos  0 − sin   1 0 0 
A y , = 0 1 0  A x , = 0 cos sin 
   
 sin  0 cos   0 − sin cos 

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Introduction to Robotics 21 C2. Rotation Kinematics

2.3. Rotation About Local Cartesian Axes

Example 5: Local rotation, local position. Local
rotation, global position.
If a local coordinate frame Oxyz has been rotated 60 [deg] about the
z-axis and a point P in the local coordinate frame Oxyz is at (4, 3, 2)
⇒ its position in the global coordinate frame OXYZ is at

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Introduction to Robotics 22 C2. Rotation Kinematics

2.3. Rotation About Local Cartesian Axes

Example 6: Successive local rotation, global position.
The first actuator rotates the arm −90 [deg] about y-axis, and then
the second actuator rotates the arm 90 [deg] about x-axis. If, before
the rotations, the end point P is at BrP = [9.5 -10.1 10.1]T

⇒ its position in the global coordinate frame is

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Introduction to Robotics 23 C2. Rotation Kinematics

2.4. Successive Rotation About Local Cartesian Axes

A sequence of rotations
• Consider a point P in a rigid body B(Oxyz) at position vector r.
Having the final global position vector Gr of P , we can determine
its local position vector Br after a series of sequential rotations A1,
A2, A3, . . ., An about the local axes, by
B
r = B AG Gr
where the local rotation matrix,
B
A G = A n ...A 3 A 2 A1

• The multiplication of rotation transformation matrices is associative

A 3 A 2 A1 = A 3  A 2 A1  =  A 3 A 2  A1

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Introduction to Robotics 24 C2. Rotation Kinematics

2.4. Successive Rotation About Local Cartesian Axes

Example 7: Successive local rotation, local position.
A local coordinate frame B(Oxyz) that initially is coincident with a
global coordinate frame G(OXYZ) undergoes a rotation φ = 30 [deg]
about the z-axis, then θ = 30 [deg] about the x-axis, and then ψ = 30
[deg] about the y-axis. The local coordinates of a point P located at
X = 5, Y = 30, and Z = 10 can be found?

The local rotation matrix is

The coordinates of P in the local frame are

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Introduction to Robotics 25 C2. Rotation Kinematics

2.4. Successive Rotation About Local Cartesian Axes

Twelve independent rotation about local axes
• We may transform a body coordinate frame B from the coincident
position with a global frame G to any final orientation by
minimum three rotations about the local axes provided that no two
consequence rotations are about the same axis. In general, there
are 12 different independent combinations of triple rotation about
local axes.

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 26 C2. Rotation Kinematics

2.5. Euler Angles

Definition
• The rotation about the Z-axis (z-axis) of the global coordinate is
called precession, the rotation about the x-axis of the local
coordinate is called nutation, and the rotation about the z-axis of
the local coordinate is called spin.
• The precession (φ) – nutation (θ) – spin (ψ) rotation angles are
also called Euler angles.
• The kinematics and dynamics of axisymmetric rigid bodies have
simpler and more understandable expression based on Euler
angles.

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 27 C2. Rotation Kinematics

2.5. Euler Angles

Definition
• The Euler angle rotation matrix BAG to transform a position vector
from G (OXYZ) to B (Oxyz)
B
r = B AG Gr
where BAG is the rotation matrix

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Introduction to Robotics 28 C2. Rotation Kinematics

2.5. Euler Angles

Example 8: Euler angle rotation matrix
The Euler or precession–nutation–spin rotation matrix for φ =
79.15 [deg], θ = 41.41 [deg], and ψ = −40.7 [deg] or φ = 1.38 [rad],
θ = 0.72 [rad], and ψ = −0.71 [rad]. The rotation matrix is?

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 29 C2. Rotation Kinematics

2.5. Euler Angles

Example 9: Euler angles of a local transformation
matrix.
The local rotation matrix after rotation of 30 [deg] about the z-axis,
then 30 [deg] about the x-axis, and then 30 [deg] about the y-axis.
The local rotation matrix:

The Euler angles of the

corresponding precession–
nutation–spin rotation
matrix are ?!

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Introduction to Robotics 30 C2. Rotation Kinematics

2.6. Local Roll-Pitch-Yaw Angles

Definition
• Rotation about the x-axis of the local frame is called roll or bank,
rotation about y-axis of the local frame is called pitch or attitude,
and rotation about the z-axis of the local frame is called yaw,
spin, or heading.
• The local roll (φ)-pitch (θ)-yaw (ψ) rotation matrix is

Note: The difference between roll-pitch-yaw and

Euler angles, although we show both utilizing roll
(φ)-pitch (θ)-yaw (ψ).

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Introduction to Robotics 31 C2. Rotation Kinematics

2.7. Local Axes Versus Global Axes Rotation

The global rotation matrix GQB is equal to the inverse of the local
rotation matrix BAG and vice versa
G
Q B = B A G-1 B
A G = G Q -1B
where,
G
Q B = A1-1 A -12 A -13 ...A n-1
B
A G = Q1-1Q -12 Q -13 ...Qn-1

Also, pre-multiplication of the global rotation matrix is equal to

post-multiplication of the local rotation matrix.

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Introduction to Robotics 32 C2. Rotation Kinematics

2.8. General Transformation

• Consider a general situation in which two coordinate frames, G
(OXYZ) and B (Oxyz) with a common origin O, are employed to
express the components of a given vector r. There is always a
transformation matrix GRB to map the components of r from the
reference frame B (Oxyz) to the other reference frame G (OXYZ).
G
r = G R B B r  B r = G R -1B G r
• Map the components of r from the reference frame G (OXYZ) to
the other reference frame B (Oxyz) by introducing BRG
B
r = B RG G r
B
where, R G = G R -1B = G R TB G
RB = B RG = 1

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Introduction to Robotics 33 C2. Rotation Kinematics

2.8. General Transformation

Z Z Y Z Y
GP = [0 -1 -2]T
Y new
y
z y X X
Po = [2 0 1]T
y
x z Current, local frame
X y-rotation x-rotation
90 [deg] 90 [deg]
P
x z
x
y Po = [2 0 1]T
X-rotation
90 [deg] x
P Z Y
GP = [1 2 0]T
new
Fixed, global frame
z X

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Introduction to Robotics 34 C2. Rotation Kinematics

2.8. General Transformation

• Red arrow (fixed, global frame)
  1 
G
Pnew = G RPo =  G RX ,90 G RY ,90  Po =  2 
   
 QX ,90 QY ,90   0 
• Orange arrow (current, local frame)
B
Po = ( B R ) G Pnew = ( B Rx ,90 B Ry ,90 ) G Pnew

 Pnew = ( Rx ,90 Ry ,90 )

G B B −1 B
Po

 Pnew = ( Ry ,90 ) ( Rx ,90 )

G B −1 B −1 B
Po
0
 G Pnew = G Ry ,90 G Rx ,90 B
Po =  −1
 
QY QX  −2 
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Introduction to Robotics 35 C2. Rotation Kinematics

C2. End!

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien