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Lecturer
Dr. Buddhika Jayasekara
LECTURE 6
Y ( x, y, z , O, A, T )
z
y
q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
Given joint variables
x
2
Robot Kinematics- Inverse Kinematics
Y ( x, y, z , O, A, T )
z
y
q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
Given joint variables
x
3
Homogeneous Representation
A r P A RB
A o'
r r
B P
1 013 1 1
• Homogeneous transformation matrix
RB
A A o'
r R33 P31 Rotation
matrix
TB
A
013 1 0 1 Position
vector
Scaling
4
D-H Parameters
5
Denavit-Hartenberg (D-H) Parameters
D-H Notation
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
Z(i - 1)
Y(i -1) Yi Zi
Xi
X(i -1)
( i - 1)
Rotation angle around X(i-1) axis so that Z(i-1) is pointing in the same
direction as Zi axis. Positive rotation follows the right hand rule.
7
D-H Parameters Cont…
Definition- a(i-1)
Z(i - 1)
Y(i -1) Yi Zi
Xi
a(i - 1 )
X(i -1)
( i - 1)
8
D-H Parameters Cont…
Definition- di
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
( i - 1)
9
D-H Parameters Cont…
Definition- i
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
10
D-H Parameters Cont…
Summery D-H Parameter
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
11
D-H Parameters
Frame Assignment
12
cosθ i sinθ i 0 a(i 1)
sinθ cosα cosθ i cosα (i 1) sinα (i 1) sinα (i 1) d i
i (i 1)
sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1) d i
0 0 0 1
LECTURE 2 13
Assignment
I. A arm with three DOF. Joint 1’s axis is not parallel to other
two. There is a twist of 90 degrees. Derive link parameters
and kinematic equations for
14
Assignment
15
Assignment 2-I
Frame Assignment
X4
Y4 X3 Z4
Z1 Z0 Y3 Z3
X2
Y2
Y1
X1
Z2
16
D-H Parameters Cont…
Summary D-H Parameter
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
17
Assignment 2-I
DH parameters
X4
Y4 X3 Z4
2 L1 90 0 2 Y2
X2
Y1
3 L2 0 0 3
X1
Z2
18
cosθ i sinθ i 0 a(i 1)
sinθ cosα cosθ i cosα (i 1) sinα (i 1) sinα (i 1) d i
i (i 1)
sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1) d i
0 0 0 1
19
X4
Y4 X3 Z4
Z1 Z0 Y3 Z3
X2
Y2
Y1
X1
Z2
20
Assignment
We have
X4
Y4 X3 Z4
Z1 Z0 Y3 Z3
X2
Y2
Y1
X1
Z2
21
Thank you