Modern Robotics, Chapter 3.3.1: Homogeneous Transformation Matrices

This video introduces the 4x4 homogeneous transformation matrix representation of a rigid-body configuration and the special Euclidean group SE(3), the space of all transformation matrices. It also introduces three common uses of transformation matrices: representing a rigid-body configuration, changing the frame of reference of a frame or a vector, and displacing a frame or a vector.

This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.

[leomilor]

These videos are incredible. Thank you so much Kevin Lynch, Frank Park and Northwestern for this amazing educational work. I wish all the best for the authors and the school.

[shiyu]

Cant believe it for so few views for this incredible content.

[seekwhen]

1:51 How could I have not thought of subscript cancellation in changing reference frame!! This was super intuitive.

[FernandaLopez-yisp]

You guys explain very clearly. It would great if you guys explain how to use these concepts on MATLAB!

[speedbird]

Thanks professor,
very clear and nice lecture

[zevminsky-primus]

Great video, but I think at the start you should be using -p. As it is, (0, 0, 0) is mapped to (p_1, p_2, p_3), when in reality it should be (-p_1, -p_2, -p_3)

[tomahan]

Why are likes/dislikes disabled? i like this

[keriddunk]

I wish I had joined Northwestern university

[AliG.G]

reminds of uni days where computer programming was taught on a board with no access to a computer!

[allyourcode]

An important fact that is implicitly used at @1:51 is that R^T = R^-1.