Homogeneous Transformation Matrix

Abstract

The transformation of frames is a fundamental concept in the modeling and programming of a robot. In this Chapter, we present a notation that allows us to describe the relationship between different frames and objects of a robotic cell. This notation, called homogeneous transformation, has been widely used in computer graphics to compute the projections and perspective transformations of an object on a screen. Currently, this is also being used extensively in robotics. We will show how the points, vectors and transformations between frames can be represented using this approach. We also make an overview of different set of parameters that are used for characterizing the orientation of a body.