ROBOTICS

FALL SEMESTER 2019

 Robot Modeling
 Kinematic Modeling
• Kinematics in position level
- Forward kinematics (FK) : u  f  
- Inverse kinematics (IK):   f 1  u 
x  L1 cos1  L2 cos 1   2 
FK y  L1 sin 1  L2 sin 1   2 
L2 2
y
x 2  y 2  L12  L22 x  L1  L2 cos  2   yL2 sin  2
L1 cos  2  cos 1 
 L1  L2 cos  2   L22 sin 2 2
2
2 L1 L2
1
x
IK sin  2  1  cos  2 y  L1  L2 cos  2   xL2 sin  2
sin 1 
 2  a tan 2  sin  2 , cos  2   L1  L2 cos  2   L22 sin 2 2
2

1  a tan 2  sin 1 , cos 1 

2
 Modeling
 1st-order Forward Kinematics
d
dt
u  f   u  J 

u Duality f
u  J    JT f
 
u
J : (Jacobian)


3
 Modeling
 2nd-order Forward Kinematics
d
dt
u  J    H 
T
u u  J 


J
[H ]  : Hessian


4
 Modeling
 Modeling
• Dynamics
- Inverse dynamics F  Ma
  v 
- Forward dynamics a  M 1F  x
  [ I* ]   T [ P
*
]

u
1 2
1 2

5
 Modeling
 Forward Dynamics

1

2

  [ I* ]1 (   T [ P

*   
] )   
6
 1.2 Fundamentals
 Position and rotation matrix
Reference coordinate system - Earth coordinate system
Y

Moving rotating coordinate

x
y

7
 Fundamentals
 Position
 ^
ZA X A : unit vector in X A direction
^
Y A : unit vector in YA direction
 A
A
p
^
Z A : unit vector in ZA direction
py 
0 YA ^ ^ ^
X A  1, Y A  1, ZA  1


XA
 px 
Position vector expressed A   ^ ^ ^
p   p y   px X A  p y Y A  pz Z A
in A coordination system
 pz 
8
 Fundamentals
 Orientation
Not required for particle motion, but indispensable for rigid
body motion 


ZA
ZB


YB


0
YA

  
X B , Y B , Z B : unit vectors of B coordinate system

XA 
XB
9
 Fundamentals
 Definition of unit vectors
 
A :
XB XB Expressed in A coordinate system
 
A
YB : YB Expressed in A coordinate system
 
A
ZB : ZB Expressed in A coordinate system

ZA A 
XB


0 YA


XA 10
 Fundamentals
 Note : vector dot (inner) product
 a1     b1   
a     a1 X A  a2 Y A , b     b1 X A  b2 Y A
 a2  b2 
a.b  a b cos
   
=(a1 X A  a2 Y A ).(b1 X A  b2 Y A )
       
=a1b1 X A . X A  a1b2 X A .Y A  a2b1Y A . X A  a2b2 Y A .Y A
=a1b1  a2b2
b


a

11
 Fundamentals
 Rotation matrix A
B R
rotation of B coordinate system with respect to A coordinate
system

      

X B .X A YB.X A ZB .X A
A        

B R.  X B .Y A Y B .Y A Z B .Y A 
       
 X B .Z A Y B .Z A Z B .Z A 
 
A  A

A


= XB YB ZB
 

12
 Fundamentals
 Note : Inverse Rotation matrix
B B  B

B


A R.  X A YA Z A
 
      
       
 A  T 
X A .X B YA.X B Z A .X B  X B .X A X B .Y A X B .Z A   XB
                  
Z A .Y B    Y B . X A Y B .Z A    Y B  
A T A
=  X A .Y B Y A .Y B Y B .Y A RT
  
B
               
 X A .Z B Y A .Z B Z A .Z B   Z B . X A Z B .Y A Z B .Z A   AZT 
     B 
 
A  T
 XB
    1 0 0
 

   Z B  = 0 0 
A T B A T A A A
R R Y  XB YB 1
  
B A B
 0 1 
A T   0
 ZB 
Physical  
13
meaning?  AB R  BA R 1  BA RT
 Fundamentals
 
X B projected onto A X A projected onto B

 
 YA YB
YB YA


Reverse
XB
order

 

XB
XA

XA

cos   sin  0 cos( )  sin( ) 0 

  sin( ) cos( ) 0   A RT
0
A 1
B R   sin 
A
cos  B R    B
 0 0 1   0 0 1 
14
 Fundamentals
 Frame : frame B :  B   A
B
A
R, p BORG 

ZB

 B
ZA A p
p 
YB
A
p BORG

YA 
XB

XA

p  p BORG  p
A A B
(cannot add vectors with different coords)

Then, what should we do ?

B
p has to be expressed in A coordinate system followed by summation 15
 Fundamentals
 Derivation of rotation matrix
 Ax pB 
 A 
  
 Ay
p B   pB  =  X B p
A A A B A B
XB XB B R p
 Az pB   
  
ZA

ZB pB
p  p BORG  p B
Finally, A A A

YB

0 YA
p  p BORG  BA R p
A A B


XA 


XB
ZB



ZA A
A
B
p pB
ZA p 
YB

A
p BORG 0 YA

YA 
XB


XA 16
XA
 Fundamentals
 Example
 3/2 1/ 2 0  1   3 / 2 
    
A
p  BA R B p B R   1/ 2
A
3 / 2 0  0    1/ 2 
 0 0 1  0   0 
 


1  YB YA
B
p  0
0

XB
B
p 1

  
6 XA

17
 Fundamentals
 Examples of mapping
1. Translation (planar motion)
  x A  xB  m,  xA  1 0 m  xB 
YA YB
y A  y B  n,  y   0 1 n   y 
yA yB  A   b

z A  zB  1  0 0 1   1 
n XB
O xB
 x A  1 0 0 m   xB 
  y  0 1 0 n y 
O m xA XA  A    B
 z A  0 0 1 l   zB 
    
 1  0 0 0 1 1 
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 Fundamentals
2. Rotation
Yˆ A
Yˆ B
yA

 Xˆ B
xB
yB


Xˆ A
Zˆ B  Zˆ A ⊙ xA

 xA  xB cos   yB sin  
 
 A
y  xB sin   y B cos  
  
 z A z B  19
 Fundamentals

Mapping for rotation about ZA axis by 
 x A   cos   sin  0 0   xB 
 y   sin  cos  0 0   yB 
A
R
 A   B
 zA   0 0 1 0  zB 
    
1  0 0 0 1  1 

 xA   xB 
 y    AX  
     

 A   B
A
YB A
Z B   y B   xB X B  y B Y B  z B Z B
A A A

 z A   
 zB 
cos     sin   0
 xB  sin    yB  cos    z B  0 
 0   0  1 

20
 Fundamentals
 Problem 1
Develop mapping which represents rotation about Xˆ A axis and YˆA
axis, respectively.
Draw picture to derive the relations.

 cos  0 sin  0 1 0 0 0
 0 0  0 cos 
1 0   sin  0 
Rot about Yˆ A   , Rot about X A  
  sin  0 cos  0 0 sin  cos  0
   
 0 0 0 1 0 0 0 1

21
 Fundamentals
 Mapping involving general frames
p  A pBORG  p
B A B
p
Zˆ A Zˆ B
 p BORG  BA R p
A B
A
p Xˆ B

Yˆ B
A  A p
P
A
p BORG Define 
Yˆ A  1 
 B
p
 
B
P 
Xˆ A    1 
A A

P BORG  B
R p
P  ABT P
A B B
 
 
0 0 0 1 
where ABT  R 44 : Homogeneous Transformation
22
 Fundamentals
 Inverse T A
B
Zˆ B {B}

Zˆ A
{A} A
p BORG
Yˆ B
 A pBORG Xˆ B
Yˆ A
 A
BR
A
p BORG 
BT   
A
Xˆ A
 0 1 
 B
AR
B
p AORG   BA RT  BA RT p BORG 
A

AT    
B

 0 1   0 1 
23