ASL

Autonomous Systems Lab

1
Kinematics | Basics of Rigid Body Kinematics
Autonomous Mobile Robots
Marco Hutter
Margarita Chli, Paul Furgale, Martin Rufli, Davide Scaramuzza, Roland Siegwart

ASL
Autonomous Systems Lab
Definition of kinematics
Description of the motion of points, bodies, or systems of bodies
without consideration of the causes of motion (=> dynamics)
Required for kinematic simulation and control

Types of motion of single bodies
Translation
Rotation
Combined motion
2
Introduction
ASL
Autonomous Systems Lab
Reference frames
Coordinate system I (inertial, not moving)
Coordinate system B (body-fixed, moving)

Translation
Vector from O to P, expressed in I:
Rotation
Matrix from frame B to frame I:
Homogeneous transformation
Combination of translation and rotation
3
Vectors and coordinate transformation
I OP I OB I BP
= + r r r
1 0 1 1
I OP IB I OB B BP
| | ( | |
=
| | (
\ . \ .
r R r r
I OB IB B BP
= + r R r
3 1
I OP

e r
3 3
IB

e R
ASL
Autonomous Systems Lab
Rotation from frame B to I such that







Inversion

Composition of rotations

4
Rotation
,
C CI I CI CB BI
= = r R r R R R
, ,
T
I IB B B BI I BI IB
= = = r R r r R r R R
Orientation in 3D
Euler angles (z-x-z)
Tait-Bryan/Cardan angles (z-y-x)

( ) ( )
( ) ( )
cos sin 0
sin cos 0
0 0 1
IB


(
(
=
(
(

R
I IB B
= r R r
ASL
Autonomous Systems Lab
Reference frames
Coordinate system I (inertial, not moving)
Coordinate system B (body-fixed, moving)

Translation
vector from O to P, expressed in I:
Rotation
matrix from frame B to frame I:
Homogeneous transformation
Combination of translation and rotation
5
Vectors and coordinate transformation
3 1
I P I OP

= e v r
3 1
I IB

e
I P I OP I OB I IB I BP
= = + v r r r
3 1
I OP

e r
3 3
IB

e R
ASL
Autonomous Systems Lab
Angular velocity of frame B with respect to I expressed in I



Relation to rotation matrix




Transformation

Consecutive rotations

6
Angular velocity
I IC I IB I BC
= +
0
0
I IB

| |
|
=
|
|
\ .

I IB IB B IB
= R
0
, 0 ,
0
z y x
IB IB IB
T z x y
I IB IB IB IB IB IB IB IB
y x z
IB IB IB
e e e
e e e
e e e
( | |
| (
= = =
| (
|
(

\ .
R R
ASL
Autonomous Systems Lab
Position and velocity in different frames

Inertial frame

Moving frame

Example: single pendulum,





7
Vector differentiation
( )
I
I
I
d
dt
=
r
r r
( )
B
B B IB B
B
d
dt
= +
r
r r r
( )
( )
sin
cos
0
I OP
l
l

| |
|
=
|
|
\ .
r
0 0 0
0 0 0
0 0 0
B OP
B P B IB B OP
l
d
l
dt

| | | | | | | |
| | | |
= + = + =
| | | |
| | | |
\ . \ . \ . \ .
r
v r
?
B P
= v
( )
( )
cos
sin
0
I OP
I P
l
d
l
dt


| |
|
= =
|
|
\ .
r
v
( ) ( )
( ) ( )
( )
( )
cos sin 0 cos
sin cos 0 sin 0
0 0 1 0 0
B P BI I P
l l
l


( | |
| |
| ( |
= = =
| ( |
|
|
(
\ .
\ .
v R v
0
0
B OP
l
| |
|
=
|
|
\ .
r
ASL
Autonomous Systems Lab
We learned the basics for describing the motion

Translations

Rotations

Homogeneous transformation

Anglar velocities

Differentiation of (position) vectors


8
Recapitulation
1 1
I OP I OB I BP
= + r r r
1 1
B OP BI I BP
= r R r
1 1
0 1
1 1
I OP B BP
IB I OB
| | | |
(
=
| |
(

\ . \ .
r r
R r
( )
B
B B IB B
B
d
dt
= +
r
r r r
I IC I IB I BC
= +