Kinematics of Robots

The City College of New York
1
Jizhong Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu
Kinematics of Robot Manipulator
Introduction to ROBOTICS
2
Outline
Review

Robot Manipulators
Robot Configuration
Robot Specification
Number of Axes, DOF
Precision, Repeatability

Kinematics
Preliminary
World frame, joint frame, end-effector frame
Rotation Matrix, composite rotation matrix
Homogeneous Matrix
Direct kinematics
Denavit-Hartenberg Representation
Examples
Inverse kinematics

3
Review
What is a robot?
By general agreement a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creatureusually a human.
To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physicalsuch as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings
Why use robots?

4A: Automation, Augmentation, Assistance, Autonomous
4D: Dangerous, Dirty, Dull, Difficult
Perform 4A tasks in 4D environments
4
Manipulators
Robot arms, industrial robot
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted
on a flange or plate secured
to the wrist joint of robot
5
Manipulators
Robot Configuration:
Cartesian: PPP Cylindrical: RPP Spherical: RRP
SCARA: RRP
(Selective Compliance
Assembly Robot Arm)
Articulated: RRR
Hand coordinate:
n: normal vector; s: sliding vector;
a: approach vector, normal to the
tool mounting plate
6
Manipulators
Motion Control Methods
Point to point control
a sequence of discrete points
spot welding, pick-and-place, loading & unloading
Continuous path control
follow a prescribed path, controlled-path motion
Spray painting, Arc welding, Gluing
7
Manipulators
Robot Specifications
Number of Axes
Major axes, (1-3) => Position the wrist
Minor axes, (4-6) => Orient the tool
Redundant, (7-n) => reaching around
obstacles, avoiding undesirable
configuration
Degree of Freedom (DOF)
Workspace
Payload (load capacity)
Precision v.s. Repeatability Which one is more important?
8
What is Kinematics
Forward kinematics

Given joint variables

End-effector position and orientation, -Formula?
) , , , , , , (
6 5 4 3 2 1 n
q q q q q q q q =
) , , , , , ( T A O z y x Y =
x
y
z
9
What is Kinematics
Inverse kinematics
End effector position
and orientation

Joint variables -Formula?
) , , , , , , (
6 5 4 3 2 1 n
q q q q q q q q =
) , , , , , ( T A O z y x
x
y
z
10
Example 1
0
x
0
y
1
x
1
y
) / ( cos
kinematics Inverse
sin
cos
kinematics Forward
0
1
0
0
l x
l y
l x
=
=
=
u
u
u
u
l
11
Preliminary
Robot Reference Frames
World frame
Joint frame
Tool frame
x
y
z
x
z
y
W
R
P
T
12
Preliminary
Coordinate Transformation
Reference coordinate frame
OXYZ
Body-attached frame Ouvw
w v u
k j i
w v u uvw
p p p P + + =
z y x
k j i
z y x xyz
p p p P + + =
x
y
z
P
u
v
w
O, O
Point represented in OXYZ:
z w y v x u
p p p p p p = = =
T
z y x xyz
p p p P ] , , [ =
Point represented in Ouvw:
Two frames coincide ==>
13
Preliminary
Mutually perpendicular

Unit vectors
Properties of orthonormal coordinate frame
0
0
0
=
=
=
j k
k i
j i

1 | |
1 | |
1 | |
=
=
=
k
j
i
Properties: Dot Product

Let and be arbitrary vectors in and be
the angle from to , then

3
R
u
u cos y x y x =
x
y
x
y
14
Preliminary
Coordinate Transformation
Rotation only
w v u
k j i
w v u uvw
p p p P + + =
x
y
z
P
z y x
k j i
z y x xyz
p p p P + + =
uvw xyz
RP P =
u
v
w
How to relate the coordinate in these two frames?
15
Preliminary
Basic Rotation
, , and represent the projections of
onto OX, OY, OZ axes, respectively

Since

x
p
P
y
p
z
p
w v u x
p p p P p
w x v x u x x
k i j i i i i + + = =
w v u y
p p p P p
w y v y u y y
k j j j i j j + + = =
w v u z
p p p P p
w z v z u z z
k k j k i k k + + = =
w v u
k j i
w v u
p p p P + + =
16
Preliminary
Basic Rotation Matrix

Rotation about x-axis with

(
(
(
(
(
(

=
(
(
(
w
v
u
z
y
x
p
p
p
p
p
p
w z v z u z
w y v y u y
w x v x u x
k k j k i k
k j j j i j
k i j i i i
x
z
y
v
w
P
u
u
(
(
(
=
u u
u u u
C S
S C x Rot
0
0
0 0 1
) , (
u
17
Preliminary
Is it True?
Rotation about x axis with

u u
u u
u u
u u
cos sin
sin cos
cos sin 0
sin cos 0
0 0 1
w v z
w v y
u x
w
v
u
z
y
x
p p p
p p p
p p
p
p
p
p
p
p
+ =
=
=
(
(
(
(
(
(
=
(
(
(
x
z
y
v
w
P
u
u
u
18
Basic Rotation Matrices
Rotation about x-axis with

Rotation about y-axis with

Rotation about z-axis with

uvw xyz
RP P =
(
(
(
=
u u
u u u
C S
S C x Rot
0
0
0 0 1
) , (

0
0 1 0
0
) , (
(
(
(
=
u u
u u
u
C S
S C
y Rot
(
(
(

=
1 0 0
0
0
) , ( u u
u u
u C S
S C
z Rot
u
u
u
19
Preliminary
Basic Rotation Matrix

Obtain the coordinate of from the coordinate
of
uvw xyz
RP P =
(
(
(

=
w z v z u z
w y v y u y
w x v x u x
k k j k i k
k j j j i j
k i j i i i
R
xyz uvw
QP P =
T
R R Q = =
1
3
1
I R R R R QR
T
= = =

uvw
P
xyz
P
<== 3X3 identity matrix
(
(
(
(
(
(

=
(
(
(
z
y
x
w
v
u
p
p
p
p
p
p
z w y w x w
z v y v x v
z u y u x u
k k j k i k
k j j j i j
k i j i i i
Dot products are commutative!
20
Example 2
A point is attached to a rotating frame,
the frame rotates 60 degree about the OZ axis of
the reference frame. Find the coordinates of the
point relative to the reference frame after the
rotation.

) 2 , 3 , 4 ( =
uvw
a
(
(
(
=
(
(
(
(
(
(

=
=
2
964 . 4
598 . 0
2
3
4
1 0 0
0 5 . 0 866 . 0
0 866 . 0 5 . 0
) 60 , (
uvw xyz
a z Rot a
21
Example 3
A point is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point w.r.t. the rotated
OU-V-W coordinate system if it has been
rotated 60 degree about OZ axis.
) 2 , 3 , 4 ( =
xyz
a
uvw
a
(
(
(
=
(
(
(
(
(
(
=
=
2
964 . 1
598 . 4
2
3
4
1 0 0
0 5 . 0 866 . 0
0 866 . 0 5 . 0
) 60 , (
xyz
T
uvw
a z Rot a
22
Composite Rotation Matrix
A sequence of finite rotations
matrix multiplications do not commute
rules:
if rotating coordinate O-U-V-W is rotating about
principal axis of OXYZ frame, then Pre-multiply
the previous (resultant) rotation matrix with an
appropriate basic rotation matrix
if rotating coordinate OUVW is rotating about its
own principal axes, then post-multiply the
previous (resultant) rotation matrix with an
appropriate basic rotation matrix
23
Example 4
Find the rotation matrix for the following
operations:

Post-multiply if rotate about the OUVW axes
Pre-multiply if rotate about the OXYZ axes
...
axis OU about Rotation
axis OW about Rotation
axis OY about Rotation
Answer
o
u
|
(
(
(
+

+
=
(
(
(
(
(
(

(
(
(
=
=
o u | o | o | o u | u |
o u o u u
o | o u | o u | o | u |
o o
o o u u
u u
| |
| |
o u |
S S S C C S C C S S C S
S C C C S
C S S S C C S C S S C C
C S
S C C S
S C
u Rot w Rot I y Rot R
0
0
0 0 1
1 0 0
0
0
C 0 S -
0 1 0
S 0 C
) , ( ) , ( ) , (
3
24
Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}

description of {B} as
seen from an observer
in {A}

Rotation of {B} with respect to {A}
Translation of the origin of {B} with respect to origin of {A}
25
Coordinate Transformations
Two Special Cases

1. Translation only
Axes of {B} and {A} are
parallel

2. Rotation only
Origins of {B} and {A}
are coincident

1 =
B
A
R
' o A P B
B
A P A
r r R r + =
0
'
=
o A
r
26
Homogeneous Representation
Coordinate transformation from {B} to {A}

Homogeneous transformation matrix
' o A P B
B
A P A
r r R r + =
(
=
(
1 1 0 1
3 1
' P B o A
B
A P A
r r R r
(
=
(
1 0
1 0
1 3 3 3
3 1
'
P R
r R
T
o A
B
A
B
A
Position
vector
Rotation
matrix
Scaling
27
Homogeneous Transformation
Special cases
1. Translation

2. Rotation
(
1 0
0
3 1
1 3 B
A
B
A
R
T
(
1 0
3 1
'
3 3
o A
B
A
r I
T
28
Example 5
Translation along Z-axis with h:

(
(
(
(
=
1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
) , (
h
h z Trans
(
(
(
(
+
=
(
(
(
(
(
(
(
(
=
(
(
(
(
1 1 1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
1
h p
p
p
p
p
p
h z
y
x
w
v
u
w
v
u
x
y
z
P
u
v
w
O, O
h
x
y
z
P
u
v
w
O, O
29
Example 6
Rotation about the X-axis by

(
(
(
(
=
1 0 0 0
0 0
0 0
0 0 0 1
) , (
u u
u u
u
C S
S C
x Rot
x
z
y
v
w
P
u
(
(
(
(
(
(
(
(
=
(
(
(
(
1 1 0 0 0
0 0
0 0
0 0 0 1
1
w
v
u
p
p
p
C S
S C
z
y
x
u u
u u
30
Composite Homogeneous Transformation
Matrix
Rules:
Transformation (rotation/translation) w.r.t
(X,Y,Z) (OLD FRAME), using pre-
multiplication
Transformation (rotation/translation) w.r.t
(U,V,W) (NEW FRAME), using post-
multiplication

31
Example 7
Find the homogeneous transformation matrix
(T) for the following operations:

:
axis OZ about of Rotation
axis OZ along d of n Translatio
axis OX along a of n Translatio
axis OX about Rotation
Answer
u
o
4 4 , , , ,
= I T T T T T
x a x d z z o u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

=
1 0 0 0
0 0
0 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1
1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0
0 0
o o
o o u u
u u
C S
S C
a
d
C S
S C
32
Homogeneous Representation
A frame in space (Geometric
Interpretation)

x
y
z
) , , (
z y x
p p p P
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
p a s n
p a s n
p a s n
F
n
s
a
(
=

1 0
1 3 3 3
P R
F
Principal axis n w.r.t. the reference coordinate system
(X)
(y)
(z)
33
Translation
y
z
n
s
a
n
s
a
(
(
(
(
+
+
+
=
(
(
(
(
(
(
(
(
=
1 0 0 0

1 0 0 0 1 0 0 0
1 0 0
0 1 0
0 0 1
z z z z z
y y y y y
x x x x x
z z z z
y y y y
x x x x
z
y
x
new
d p a s n
d p a s n
d p a s n
p a s n
p a s n
p a s n
d
d
d
F
old z y x new
F d d d Trans F = ) , , (
34
2
1
1
0
2
0
A A A =
Composite Homogeneous Transformation Matrix
0
x
0
z
0
y
1
0
A
2
1
A
1
x
1
z
1
y
2
x
2
z
2
y
?
i
i
A
1
Transformation matrix for
adjacent coordinate frames
Chain product of successive
coordinate transformation matrices
35
Example 8
For the figure shown below, find the 4x4 homogeneous transformation
matrices and for i=1, 2, 3, 4, 5
(
(
(
(
=
1 0 0 0
z z z z
y y y y
x x x x
p a s n
p a s n
p a s n
F
i
i
A
1
i
A
0
0
x
0
y
0
z
a
b
c
d
e
1
x
1
y
1
z
2
z
2
x
2
y
3
y
3
x
3
z
4
z
4
y
4
x
5
x
5
y
5
z
(
(
(
(
=
1 0 0 0
0 1 0
1 0 0
0 0 0 1
1
0
d a
c e
A
(
(
(
(
+

=
1 0 0 0
0 1 0 0
0 0 1
0 1 0
2
0
c e
b
A
(
(
(
(
=
1 0 0 0
0 0 0 1
1 0 0
0 1 0
2
1
d a
b
A
Can you find the answer by observation
based on the geometric interpretation of
homogeneous transformation matrix?
36
Orientation Representation
Rotation matrix representation needs 9
elements to completely describe the
orientation of a rotating rigid body.
Any easy way?
(
=

1 0
1 3 3 3
P R
F
Euler Angles Representation
37
Euler Angles Representation ( , , )
Many different types
Description of Euler angle representations

|
u

Euler Angle I Euler Angle II Roll-Pitch-Yaw
Sequence about OZ axis about OZ axis about OX axis
of about OU axis about OV axis about OY axis
Rotations about OW axis about OW axis about OZ axis

| |
|
u u u


38
x
y
z
u'
v'
|
u
v "
w"
w'=
=u"

v'"

u'"
w'"=

Euler Angle I, Animated
39
Euler Angle I
|
|
|
.
|
\
|

=
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|

=
1 0 0
0 cos sin
0 sin cos
,
cos sin 0
sin cos 0
0 0 1
,
1 0 0
0 cos sin
0 sin cos
' '
'

u u
u u | |
| |
u |
w
u z
R
R R
40
Euler Angle I

|
|
|
|
|
|
|
|
|
.
|
\
|
=
u u u
u |
u |
|
u |
|
u
u |
|
u |
|
u |
cos sin cos sin sin
sin cos
cos cos cos
sin sin
cos sin cos
cos sin
sin sin
cos cos sin
sin cos
cos sin sin
cos cos
' ' ' w u z
R R R R
Resultant eulerian rotation matrix:
41
Euler Angle II, Animated
x
y
z
u'
v'
|
u
=v"
w"
w'=
u"

v"'

u"'
w"'=
Note the opposite
(clockwise) sense of the
third rotation, |.
42
Matrix with Euler Angle II
|
|
|
|
|
|
|
|
|
.
|
\
|
u
u u
u
u |
|
u |
|
u |
u |
|
u |
|
cos
sin sin sin cos
sin sin
cos cos sin
cos cos
cos cos sin
sin cos
sin cos
cos cos sin
cos sin
cos cos cos
sin sin
Quiz: How to get this matrix ?
43
Description of Roll Pitch Yaw
X
Y
Z
u
|
Quiz: How to get rotation matrix ?
44
Thank you!
x
y
z
x
y
z
x
y
z
x
z
y
Homework 1 is posted on the web.
Due: Sept. 16, 2008, before class
Next class: kinematics II

Kinematics of Robots

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

Kinematics of Robots

Uploaded by

Copyright:

Available Formats

The City College of New York

Properties: Dot Product

The City College of New York

You might also like