ME4802

Robotics

Lecture 2A

Azeem Anwer 1
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Kinematics

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 Spatial Description

Task Description

Transformations

Representations

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Manipulator

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 Configuration Parameter
A set of position parameters that describes the full
configuration of the system.

9 parameter / link

Generalized coordinates
A set of independent configuration parameters
Degrees of Freedom
Number of generalized coordinates
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Generalized Coordinates

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Generalized Coordinates

3 positions
6 parameters
3 orientations

n moving links: 6n parameters

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Generalized Coordinates

3 positions
6 parameters
3 orientations

5 constraints

n moving links : 6n parameters

n 1 d.o.f. joints : 5n constraints
d.o.f. (system) : 6n 5n = n

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 End-Efector Configuration
Parameters

A set of m parameters:
(x1, x2, x3,,xm)
That completely specifies the end-effector
Position and orientation with respect to {0}
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 Operational Parameters
0n+1: Operational Point

A set x1, x2, x3,,xmo

of mo independent configuration parameters
mo : number of degree of freedom of
end-effector
What in the case of a planer robot?

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 Joint & Operational Space
Joint Coordinates Joint Space

Operational Coordinates Operational Space

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 Redundancy
A robot is said to
be REDUNDANT
if
n > mo

Degree of redundancy : n - mo
Helps avoiding the obstacles
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 Position of a Point

With respect to a fixed

origin O, the position
.P of a point P is described
by the vector OP or
simply by p.
p

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 Rigid Body Configuration

Euclidean
Space

Cartesian
Frame

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Coordinate Frames

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Coordinate Frames

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Rotation Matrix

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Rotation Matrix

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Rotation Matrix

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 Rotation Matrix (Example)
What is the first column of the
Rotation matrix?

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Rotation Matrix (Example 2.1)

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Mapping & Rotations

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Translation

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General Transform

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Homogeneous Transform

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Homogeneous Transform (Example)

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Homogeneous Transform (Ex 2.2)

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Homogeneous Transform (Ex 2.2)

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OPERATORS:
TRANSLATIONS,
ROTATIONS, AND
TRANSFORMATIONS

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 Operators

The same mathematical forms used

to map points between frames can
also be interpreted as operators
that translate points, rotate vectors,
or do both.

This section illustrates this

interpretation of the mathematics we
have already developed.
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Operators

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Rotational Operators

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Rotational Operators (Ex 2.3)

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Rotational Operators (Ex 2.3)

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Translations

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Translations

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Translations

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Translation Operator

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General Operator

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General Operator (Ex 2.4)

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General Operator (Ex 2.4)

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Time for questions /
discussion

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