Chapter 2

Chapter 2
Robot Kinematics: Position Analysis

2.1 INTRODUCTION
+Forward Kinematics:
to determine where the robots hand is?
(If all joint variables are known)

+Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)

Chapter 2
2.2 ROBOTS AS MECHANISM
Fig. 2.1 A one-degree-of-freedom closed-loop
four-bar mechanism
+Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 2.2 (a) Closed-loop versus (b) open-loop mechanism
Chapter 2
2.3 MATRIX REPRESENTATION
2.3.1 Representation of a Point in Space
Fig. 2.3 Representation of a point in space
+A point P in space :
3 coordinates relative to a reference frame
^ ^ ^
k c j b i a P
z y x
+ + =
Chapter 2
2.3.2 Representation of a Vector in Space
Fig. 2.4 Representation of a vector in space
+A Vector P in space :
3 coordinates of its tail and of its head
^ ^ ^
__
k c j b i a P
z y x
+ + =
(
(
(
(
=
w
z
y
x
P
__
Chapter 2
2.3.3 Representation of a Frame at the Origin of a Fixed-Reference Frame
Fig. 2.5 Representation of a frame at the origin of the reference frame
+Each Unit Vector is mutually perpendicular. :
normal, orientation, approach vector
(
(
(
=
z z z
y y y
x x x
a o n
a o n
a o n
F
Chapter 2
2.3.4 Representation of a Frame in a Fixed Reference Frame
Fig. 2.6 Representation of a frame in a frame
+Each Unit Vector is mutually perpendicular. :
normal, orientation, approach vector
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
P a o n
P a o n
P a o n
F
Chapter 2
2.3.5 Representation of a Rigid Body
Fig. 2.8 Representation of an object in space
+An object can be represented in space by attaching a frame
to it and representing the frame in space.
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
object
P a o n
P a o n
P a o n
F
Chapter 2
2.4 HOMOGENEOUS TRANSFORMATION MATRICES
+A transformation matrices must be in square form.

It is much easier to calculate the inverse of square matrices.
To multiply two matrices, their dimensions must match.
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
P a o n
P a o n
P a o n
F
Chapter 2
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.1 Representation of a Pure Translation
Fig. 2.9 Representation of an pure translation in space
+A transformation is defined as making a movement in space.
A pure translation.
A pure rotation about an axis.
A combination of translation or rotations.
(
(
(
(
=
1 0 0 0
1 0 0
0 1 0
0 0 1
z
y
x
d
d
d
T
Chapter 2
2.5.2 Representation of a Pure Rotation about an Axis
Fig. 2.10 Coordinates of a point in a rotating
frame before and after rotation.
+Assumption : The frame is at the origin of the reference frame and parallel to it.
Fig. 2.11 Coordinates of a point relative to the reference
frame and rotating frame as viewed from the x-axis.
Chapter 2
2.5.3 Representation of Combined Transformations
Fig. 2.13 Effects of three successive transformations
+A number of successive translations and rotations.
Fig. 2.14 Changing the order of transformations will
change the final result
Chapter 2
2.5.5 Transformations Relative to the Rotating Frame
Fig. 2.15 Transformations relative to the current frames.
+Example 2.8
Chapter 2
2.6 INVERSE OF TRANSFORMATION MATIRICES
Fig. 2.16 The Universe, robot, hand, part, and end effecter frames.
+Inverse of a matrix calculation steps :
Calculate the determinant of the matrix.
Transpose the matrix.
Replace each element of the transposed matrix by its own minor(adjoint matrix).
Divide the converted matrix by the determinant.
Chapter 2
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
Fig. 2.17 The hand frame of the robot relative to the reference frame.
+Forward Kinematics Analysis:
Calculating the position and orientation of the hand of the robot.
If all robot joint variables are known, one can calculate where the robot is
at any instant.
Recall Chapter 1.
Chapter 2
2.7.1 Forward and Inverse Kinematics Equations for Position
+Forward Kinematics and Inverse Kinematics equation for position analysis :

(a) Cartesian (gantry, rectangular) coordinates.
(b) Cylindrical coordinates.
(c) Spherical coordinates.
(d) Articulated (anthropomorphic, or all-revolute) coordinates.
Chapter 2
2.7.1(a) Cartesian (Gantry, Rectangular) Coordinates
+IBM 7565 robot
All actuator is linear.
A gantry robot is a Cartesian robot.
Fig. 2.18 Cartesian Coordinates.
(
(
(
(
= =
1 0 0 0
1 0 0
0 1 0
0 0 1
z
y
x
cart P
R
P
P
P
T T
Chapter 2
2.7.1(b) Cylindrical Coordinates
+2 Linear translations and 1 rotation
translation of r along the x-axis
rotation of o about the z-axis
translation of l along the z-axis
Fig. 2.19 Cylindrical Coordinates.
(
(
(
(

= =
1 0 0 0
1 0 0
0
0
l
rS C S
rC S C
T T cyl P
R
o o o
o o o
,0,0) )Trans( , )Rot( Trans(0,0, ) , , ( r z l l r T T cyl P
R
o o = =
Chapter 2
2.7.1(c) Spherical Coordinates
+2 Linear translations and 1 rotation
translation of r along the z-axis
rotation of | about the y-axis
rotation of along the z-axis
Fig. 2.20 Spherical Coordinates.
(
(
(
(

= =
1 0 0 0
0 | | |
| | |
| | |
rC C S
S rS S S C S C
C rS C S S C C
T T sph P
R
) )Trans( )Rot( Rot( ) ( 0,0, , , , , | | y z l r sph P
R
T T = =
Chapter 2
2.7.1(d) Articulated Coordinates
+3 rotations -> Denavit-Hartenberg representation

Fig. 2.21 Articulated Coordinates.
Chapter 2
2.7.2 Forward and Inverse Kinematics Equations for Orientation

+ Roll, Pitch, Yaw (RPY) angles
+ Euler angles
+ Articulated joints

Chapter 2
2.7.2(a) Roll, Pitch, Yaw(RPY) Angles
+Roll: Rotation of about -axis (z-axis of the moving frame)
+Pitch: Rotation of about -axis (y-axis of the moving frame)
+Yaw: Rotation of about -axis (x-axis of the moving frame)
a
a |
o |
n |
o
n
Fig. 2.22 RPY rotations about the current axes.
Chapter 2
2.7.2(b) Euler Angles
Fig. 2.24 Euler rotations about the current axes.
+Rotation of about -axis (z-axis of the moving frame) followed by
+Rotation of about -axis (y-axis of the moving frame) followed by
+Rotation of about -axis (z-axis of the moving frame).
a
|
u
o
a
Chapter 2
2.7.2(c) Articulated Joints
Consult again section 2.7.1(d).
Chapter 2
) ( ) ( , , , , n o a z y x cart H
R
RPY P P P T T | | | =
) ( ) ( , , , , u | | Euler T T r sph H
R
=
+ Assumption : Robot is made of a Cartesian and an RPY set of joints.
+ Assumption : Robot is made of a Spherical Coordinate and an Euler angle.
Another Combination can be possible
Denavit-Hartenberg Representation
Chapter 2
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
- Denavit-Hartenberg Representation :
Fig. 2.25 A D-H representation of a general-purpose joint-link combination
@ Simple way of modeling robot links and
joints for any robot configuration,
regardless of its sequence or complexity.
@ Transformations in any coordinates
is possible.
@ Any possible combinations of joints
and links and all-revolute articulated
robots can be represented.
Chapter 2
- Denavit-Hartenberg Representation procedures:
Start point:
Assign joint number n to the first shown joint.
Assign a local reference frame for each and every joint before or
after these joints.
Y-axis does not used in D-H representation.
Chapter 2
- Procedures for assigning a local reference frame to each joint:
All joints are represented by a z-axis.
(right-hand rule for rotational joint, linear movement for prismatic joint)
The common normal is one line mutually perpendicular to any two
skew lines.
Parallel z-axes joints make a infinite number of common normal.
Intersecting z-axes of two successive joints make no common
normal between them(Length is 0.).
Chapter 2
- Symbol Terminologies :
u : A rotation about the z-axis.
d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
o : The angle between two successive z-axes (Joint twist)

Only u and d are joint variables.
Chapter 2
- The necessary motions to transform from one reference
frame to the next.
(I) Rotate about the z
n
-axis an able of u
n+1
. (Coplanar)
(II) Translate along z
n
-axis a distance of d
n+1
to make x
n
and x
n+1

colinear.
(III) Translate along the x
n
-axis a distance of a
n+1
to bring the origins
of x
n+1
together.
(IV) Rotate z
n
-axis about x
n+1
axis an angle of o
n+1
to align z
n
-axis
with z
n+1
-axis.
Chapter 2
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT
- Determine the value of each joint to place the arm at a
desired position and orientation.
6 5 4 3 2 1 A A A A A A TH
R
=
(
(
(
(
(
(
(
+ + + +
+ +

+

+ + +
+

=
1 0 0 0
) ( ) (
) ( ) (
) ( ) (
) ( ) (
2 2 3 23 4 234 5 234 6 234 6 5 234 6 234 6 5 234
2 2 3 23 4 234 1 5 1 5 234 1
6 5 1
6 234 6 5 234 1
6 5 1
6 234 6 5 234 1
2 2 3 23 4 234 1 5 1 5 234 1
6 5 1
6 234 6 5 234 1
6 5 1
6 234 6 5 234 1
a S a S a S S S C C C C S S C C C S
a C a C a C S C C S C S
C S C
C S C C C S
C S C
S S C C C S
a C a C a C C C S S C C
C S S
C S C C C C
C S S
S S C C C C
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
p a o n
p a o n
p a o n
Chapter 2
6 5 4 3 2
1
1
1
1 ] [
1 0 0 0
A A A A A RHS A
p a o n
p a o n
p a o n
A
z z z z
y y y y
x x x x
= =
(
(
(
(

6 5 4 3 2
1 1
1 1
1 0 0 0 1 0 0 0
0 0
0 1 0 0
0 0
A A A A A
p a o n
p a o n
p a o n
C S
S C
z z z z
y y y y
x x x x
=
(
(
(
(
(
(
(
(
Chapter 2
|
|
.
|
\
|
=

x
y
p
p
1
1 tan u
) ( ) )( (
) ( ) )( (
tan
4 234 3 3 4 234 1 1 2 3 3
4 234 1 1 3 3 4 234 2 3 3
1
2
a S P a S a C S p C p a a C
a C S p C p a S a S p a a C
z y x
y x z
+ + +
+ +
=

u
|
.
|
\
|
=

3
3
1
3 tan
C
S
u
3 2 234 4 u u u u =
y x
z y x
a C a S
a S a S a C C
1 1
234 1 1 234
1
5
) (
tan
+ +
=

u
z y x
z y x
o C o S o C S
n S n S n C S
234 1 1 234
234 1 1 234
1
6
) (
) (
tan
+ +
+ +
=

u
Chapter 2
2.10 INVERSE KINEMATIC PROGRAM OF ROBOTS
- A robot has a predictable path on a straight line,
- Or an unpredictable path on a straight line.
A predictable path is necessary to recalculate joint variables.
(Between 50 to 200 times a second)
To make the robot follow a straight line, it is necessary to break
the line into many small sections.
All unnecessary computations should be eliminated.
Fig. 2.30 Small sections of movement for straight-line motions
Chapter 2
2.11 DEGENERACY AND DEXTERITY
Degeneracy : The robot looses a degree of freedom
and thus cannot perform as desired.
When the robots joints reach their physical limits,
and as a result, cannot move any further.
In the middle point of its workspace if the z-axes
of two similar joints becomes colinear.
Fig. 2.31 An example of a robot in a degenerate position.
Dexterity : The volume of points where one can
position the robot as desired, but not
orientate it.
Chapter 2
2.12 THE FUNDAMENTAL PROBLEM WITH D-H REPRESENTATION
Defect of D-H presentation : D-H cannot represent any motion about
the y-axis, because all motions are about the x- and z-axis.
Fig. 2.31 The frames of the Stanford Arm.
# u d a o
1
u
1
0 0 -90
2
u
2

d
1
0 90
3
0
d
1
0 0
4
u
4
0 0 -90
5
u
5
0 0 90
6
u
6
0 0 0
TABLE 2.3 THE PARAMETERS TABLE FOR THE
STANFORD ARM

Chapter 2 - Robot Kinematics

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 2 - Robot Kinematics

Uploaded by

Copyright:

Available Formats

Robot Kinematics: Position Analysis

You might also like