1. CPSC 452 Spatial Descriptions and Coordinate Transform
Prof. Oussama Khatib, Stanford University
Prof. Dezhen Song, Texas A&M University

2. Generalized Coordinates

3. End-Effector Configuration Parameters

4. Operational Coordinates

6. Coordinate Frames

7. Position Description
Coordinate System A

8. Orientation Description
Coordinate System A
Attach Frame Coordinate System B
Rotation matrix

9. Orthogonal Matrix
9 Parameters to describe orientation!

10. Example
30
30

11. Description of a frame
Position + orientation

12. Mapping Between Two Coordinate Frames

13. Mapping - Homogeneous Transformation

15. Operators

16. Rotational Operators

17. Translation Operator
Translation operator

18. General Operators

19. Inverse Transform

20. Homogeneous Transform Interpretations

21. Transform Equation

22. Compound Transformations

24. Transform Equation