Skip main navigation

Transformation of Pose in 3D

How to effectively transform the relative pose obtained to a desired fixed frame in three-dimensional world space?

Similar to the transformation procedure discussed in 2D case, a 3D transformation involves considering an additional rotation around X and Y.

If applicable, with the rotation matrix R_x given as a 3 x 3 form as [1 0 0; 0 cos(theta_x) sin(theta_x);0 sin(theta_x) cos(theta_x)].

The rotation matrix R_y given as a 3 x 3 form as [cos(theta_y) 0 sin(theta_y);0 1 0; -sin(theta_y) 0 cos(theta_y)].

The rotation matrix R_z given as a 3 x 3 form as [cos(theta_z) -sin(theta_z) 0; sin(theta_z) cos(theta_z) 0; 0 0 1].

Transformation of pose in a 3D world is also dependent on the sequence of rotations considered. In robotics, there are two main sequence of rotations, primarily, a ZYZ rotation which considers the rotations roll, pitch and yaw along Z, Y and Z axis respectively. Similarly, the XYZ rotation sequence follows accordingly.

Please note: the sequence of rotations starts from the right and proceeds to the left. The translation vector t has the format [x y z]. Finally the homogeneous transformation matrix T can be formulated as a 4 x 4 given as [R;t;0 0 0 1].

This article is from the free online

Introduction to Application of Robotic Tools

Created by
FutureLearn - Learning For Life

Reach your personal and professional goals

Unlock access to hundreds of expert online courses and degrees from top universities and educators to gain accredited qualifications and professional CV-building certificates.

Join over 18 million learners to launch, switch or build upon your career, all at your own pace, across a wide range of topic areas.

Start Learning now