Robot Forward Inverse

Robot Kinematics
OUTLINES
 Position Analysis
- locations
- orientations
- movements
 Forward Kinematics
 Inverse Kinematics
Industrial Robotics 2
Robots Mechanism
 Multiple Degree of Freedom
- joint variable must be known
 Three Dimensional
 Open Loop Mechanism
Matrix Representation z
 A Point in Space
cz
P  axiˆ  by ˆj  cz kˆ
by ax
x y
 A Vector in Space
P  a x iˆ  by ˆj  c z kˆ
x
a x   y
P  by    P   
z
 c z   
w 
- directional vector
Representation of a Frame –
Origin at Fixed Reference Frame
z
 A frame can be represented as
n o a a
 nx ox ax 
F  n y oy a y  o
 nz oz a z 
x n y
Representation of a frame at the origin of the

reference frame
Representation of a Frame – z
a
At Fixed Reference Frame
P o
 A frame can be represented as
n
 nx ox ax Px 
n oy ay Py  x y
F  y
Representation a frame
 nz oz az Pz  z
  a
0 0 0 1 60°
30°
o
n
Example:
  P
 
F  
 
  x Representation a frame y
 
Representation of a Rigid Body
 Represented in Space by attaching a frame onto itself. z
 nx ox ax Px 
n oy ay Py 
Fobject   y
P o
 nz oz az Pz  n
 
0 0 0 1
x Representation an object in space y
In space, a point has 3 D.O.F while a frame has 6 D.O.F.
Therefore to locate a frame in space, we require 6-pieces of info.
However, there are 12 pieces of information given above.
Therefore, there exists 6 constraints. What are these constraints?
 Constraints Equations, based on:
- mutual perpendicularity
- unit vector’s length
n a  0
Perpendicular vectors:
n o  0
Dot product between them is zero.
a o  0
n 1
Unit vector has a magnitude
o 1 of 1.
a 1
Exercise
Solve for the following missing entities of a matrix representing a frame
in space.
 a 0 e 5
0.707 c f 3
F 
 b d 0 2
 
 0 0 0 1
Exercise 1
in space.
 a 0 e 5
0.707 c f 3
F 
 b d 0 2
 
 0 0 0 1
Exercise 2
in space. a 0  1 8 
b 0 0 2
F 
c  1 0 1
 
0 0 0 1
Homogeneous Transformation Matrix
a
 Pure Translation z
a
d o
1 0 0 dx 
0 1 0 d y 
n
T  P o
0 0 1 dz  n
 
0 0 0 1
x Pure translation of a frame y
1 0 0 d x   nx ox ax Px   nx ox ax Px  d x 
0 1 0 d y  n y oy ay Py  n y oy ay Py  d y 
Fnew  x 
0 0 1 d z   nz oz az Pz   nz oz az Pz  d z 
     
0 0 0 1 0 0 0 1 0 0 0 1 
 Pure Translation - Example
A frame F is moved six units along the x-axis and two units
along the z-axis of the reference frame. Determine the new
location.
0.527  0.574 0.628 5

0.527 0.819 0.439 3
F
 7.66 0 0.643 8
0 0 0 1
 Rotational about an Axis
A point in a rotating frame before and after Coordinates of a point relative to the reference
a rotation about the x-axis frame and rotating from the view of the rotating
axis.
 Rotational about an Axis
Px  Pn
Py  l1  l2  Po cos   Pa sin  ,
Pz  l3  l4  Po sin   Pa cos 
 Px  1 0 0   Pn 
 P   0 cos - sin   Po 
 y 
 Pz  0 sin cos   Pa 
Cθ 0 Sθ Cθ  Sθ 0
Rot y, θ   0 1 0 Rot z, θ   Sθ Cθ 0
 Sθ 0 Cθ 0 0 1
 Combined Transformation
Example 1:
A point in space P(7, 3,2) is attached to the frame n , o , a  .

The following transformations are performed:
1) Rotation of 900 about the z-axis.

2) Followed by a rotation of 900 about the y-axis.
3) Followed by a translation of [4,-3, 7],
Solve for the new coordinates of this point at the conclusions of these
transformations.
a1
o2
o1
a2
n1
n2
1st translation 2nd translation
3rd translation
 Combined Transformation
Example 2:
A point in space P(7,3,2) is attached to the frame n , o , a .

The following transformations are performed:
1) A translation of [4, -3, 7],

2) Followed by a rotation of 900 about the y-axis
3) Rotation of 900 about the z-axis.
Solve for the new coordinates of this point at the conclusions of these
transformations.
3rd translation
Transformation Relative to the Rotating Frame
Consider that the point is now subjected to similar transformation but

relative to the current moving frame.
1) Rotation of 90° about the a-axis.

2) Followed by a translation of [4, -3, 7] along axes n,o,a respectively.
3) Followed by a rotation of 900 about the o-axis.
- Construct the equations describing these motions.
- Solve for the new coordinates of this point at the conclusions

of these transformations.
a2
o2
a1
n2
o1
n1
o3
a3
n3
3rd translation
Consider that the point is now subjected to similar transformation but

relative to the current moving frame.
1) Followed by a rotation of 900 about the o-axis

2) Followed by a translation of [4, -3, 7] along axes n,o,a respectively.
3) Rotation of 90° about the a-axis..
- Construct the equations describing these motions.
- Solve for the new coordinates of this point at the conclusions

of these transformations.
3rd translation
A frame underwent the followings series of transformations:
i. Rotated 600 about the x-axis.

ii. Translated about the current a-axis by 3 cm.
iii. Rotated about the z-axis by 450..
iv. Translated about the current o-axis by 5 cm.
a) Construct the equations describing these motions.

b) Solve for the final position of a point initially at P(1,4,3), attached
to the frame relative to the reference frame.
Inverse of Transformation Matrices
Therefore we need to get

the inverses of these
matrices!
Robotics and Automation 24

Example:
Solve for the inverse of the matrix representing Rot(x,50°)
1 0 0 0  
0 0.643  0.766  
0
  Rot x ,50    
1
Rot x ,50   ;
0 0.766 0.643 0   
   
0 0 0 1  
FORWARD & INVERSE KINEMATICS
• Forward Kinematics
• Inverse Kinematics
• Forward Kinematics (angle to position)
• Inverse Kinematics (position to angle)
Forward and Inverse Kinematic Eqns. for Position
 Cartesian Coordinates
 Cylindrical Coordinates
 Spherical Coordinates
 Articulated Coordinates
 Cartesian Coordinates
 Cylindrical Coordinates
 Cylindrical Coordinates – Example
We desire to place the origin of the hand frame of a cylindrical

robot at [5,4,3]T. Calculate the joint variables of the robot.
 Spherical Coordinates
 Spherical Coordinates - Example
We desire to place the origin of the hand frame of a spherical

robot at [5,2,8]T. Calculate the joint variables of the robot.
Forward and Inverse Kinematic Eqns. for Orientation
 Roll, Pitch, Yaw Angle (RPY)
 Euler Angles
 Articulated Joints


 Roll, Pitch, Yaw Angle (RPY) – Inverse Kinematics
 Roll, Pitch, Yaw Angle (RPY) – Example 2.16

 Roll, Pitch, Yaw Angle (RPY) – Example 2.17

Robot Forward Inverse

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Robot Forward Inverse

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Robot Kinematics

 Multiple Degree of Freedom

- joint variable must be known

 Open Loop Mechanism

Representation of a frame at the origin of the

In space, a point has 3 D.O.F while a frame has 6 D.O.F.

Therefore to locate a frame in space, we require 6-pieces of info.

However, there are 12 pieces of information given above.

Therefore, there exists 6 constraints. What are these constraints?

 Constraints Equations, based on:

0.527  0.574 0.628 5

 Rotational about an Axis

A point in space P(7, 3,2) is attached to the frame n , o , a  .

1) Rotation of 900 about the z-axis.

1st translation 2nd translation

A point in space P(7,3,2) is attached to the frame n , o , a .

1) A translation of [4, -3, 7],

Consider that the point is now subjected to similar transformation but

1) Rotation of 90° about the a-axis.

- Construct the equations describing these motions.

- Solve for the new coordinates of this point at the conclusions

1st translation 2nd translation

Consider that the point is now subjected to similar transformation but

1) Followed by a rotation of 900 about the o-axis

- Construct the equations describing these motions.

- Solve for the new coordinates of this point at the conclusions

A frame underwent the followings series of transformations:

i. Rotated 600 about the x-axis.

a) Construct the equations describing these motions.

Therefore we need to get

Robotics and Automation 24

Solve for the inverse of the matrix representing Rot(x,50°)

• Forward Kinematics (angle to position)

• Inverse Kinematics (position to angle)

Forward and Inverse Kinematic Eqns. for Position

Forward and Inverse Kinematic Eqns. for Position

 Cylindrical Coordinates – Example

We desire to place the origin of the hand frame of a cylindrical

Forward and Inverse Kinematic Eqns. for Position

Forward and Inverse Kinematic Eqns. for Position

 Spherical Coordinates - Example

We desire to place the origin of the hand frame of a spherical

Forward and Inverse Kinematic Eqns. for Orientation

 Roll, Pitch, Yaw Angle (RPY)

Forward and Inverse Kinematic Eqns. for Orientation

Forward and Inverse Kinematic Eqns. for Orientation

Forward and Inverse Kinematic Eqns. for Orientation

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