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Chapter 2 - Robot Kinematics
Chapter 2 - Robot Kinematics
w
z
y
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Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
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
1
1
1
]
1
z z z
y y y
x x x
a o n
a o n
a o n
F
Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
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
1
1
1
]
1
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
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
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
1
1
1
]
1
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
Robot Kinematics: Position Analysis
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
1
1
1
]
1
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
Robot Kinematics: Position Analysis
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
1
1
1
]
1
1 0 0 0
1 0 0
0 1 0
0 0 1
z
y
x
d
d
d
T
Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
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
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
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
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.5 Transformations Relative to the Rotating Frame
Fig. 2.15 Transformations relative to the current frames.
Example 2.8
Chapter 2
Robot Kinematics: Position Analysis
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
Robot Kinematics: Position Analysis
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
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
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
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
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
1
1
1
]
1
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
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(b) Cylindrical Coordinates
2 Linear translations and 1 rotation
translation of r along the x-axis
rotation of about the z-axis
translation of l along the z-axis
Fig. 2.19 Cylindrical Coordinates.
1
1
1
1
]
1
1 0 0 0
1 0 0
0
0
l
rS C S
rC S C
T T cyl P
R
,0,0) )Trans( , )Rot( Trans(0,0, ) , , ( r z l l r T T cyl P
R
Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
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
1
1
1
]
1
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
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(d) Articulated Coordinates
3 rotations -> Denavit-Hartenberg representation
Fig. 2.21 Articulated Coordinates.
Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
Roll, Pitch, Yaw (RPY) angles
Euler angles
Articulated joints
Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
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
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
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
o
a
Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
2.7.2(c) Articulated Joints
Consult again section 2.7.1(d).
Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.3 Forward and Inverse Kinematics Equations for Orientation
) ( ) ( , , , , n o a z y x cart H
R
RPY P P P T T
) ( ) ( , , , , Euler T T r sph H
R
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
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
Symbol Terminologies :
: A rotation about the z-axis.
d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
: The angle between two successive z-axes (Joint twist)
Onl y and d are joint variables.
Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
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Chapter 2
Robot Kinematics: Position Analysis
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT
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Chapter 2
Robot Kinematics: Position Analysis
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT
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Chapter 2
Robot Kinematics: Position Analysis
2.10 INVERSE KINEMATIC PROGRAM OF ROBOTS