ECE Intro to Robotics, Class Worksheet – Lecture 7

Name:

Forward and Inverse Kinematics of a 3- Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

link manipulator.

𝐴1 =

𝐴2 =

𝐴3 =

𝑇30 =

Page 1 of 6
 𝑥2 𝑑3∗ 𝜋 𝜋
1 [𝜃1∗ , 𝜃2∗ , 𝑑3∗ ] = [ , , 1]
4 4
Inverse kinematics RRP 𝑦1 𝑧2
robot for inverse kinematics. 𝑥3 𝑥 𝑦 𝑧
𝜃2∗ 𝑐 𝑐 𝑐
𝑥1
𝑧3
𝑧1
1 𝑧0 0 ≤ 𝜃1∗ ≤ 𝜋
0 ≤ 𝜃2∗ ≤ 𝜋/2
𝜃1∗
𝑥0 1 ≤ 𝑑3∗ ≤ 2

2 3 3

2 2

1 1
y1 - - >

0 0 0

z0 ⟶
y0 ⟶

-1 -1

-1

-2 -2

-2 -3 -3
-2 -1 0 1 2 -3 -2 -1 0 1 2 3 -3 -2 -1 0 1 2 3
x1 - - > x0 ⟶ y0 ⟶

a.) draw & shade 𝑥1 , 𝑦1 cross- b.) draw & shade 𝑥0 , 𝑦0 cross- c.) draw & shade 𝑦0 , 𝑧0 cross-
section of manipulator’s workspace section of manipulator’s workspace section of manipulator’s workspace
at 𝑧1 = 1. Label all radii. at 𝑧0 = 1. Label all radii. at 𝑥0 = 0. Label end points.
What joint variables place the end-effector at the point [xc,yc,zc] specified in the frame
𝑜0 𝑥0𝑦0 𝑧0? Assume the point is reachable.
d.) 𝜃2∗ =

e.) 𝑑3∗ =

f.) 𝜃1∗ =

Page 2 of 6
 3 2

1
5

y1 - - >
0 0
y0 ⟶

-1

-1

-2

-3 -2
-3 -2 -1 0 1 2 3 -2 -1 0 1 2
x0 ⟶ x1 - - >

Page 3 of 6
More practice with forward kinematics. You can use robotica, a Mathematica plugin available
at https://github.com/RoboticSwarmControl/robotica
é cq - sq ca sq sa ri cq ù
ê i i i i i i
ú
ê sq i cqi ca i - cqi sa i ri sqi ú
For each forward kinematic equation Ai = Rotz,q Transz,d Trans x,r Rot x,a =ê ú
ê0 sa i ca di ú
i i i i

i
ê ú
ë0 0 0 1 û
1. Draw the coordinate frames, determine the DH
parameters, and give the transformation matrix Ai
and T: Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝐴1 =

𝐴2 =

𝐴3 =

𝑇30 =

Page 4 of 6
2. Draw the coordinate frames, determine the DH parameters, and give the transformation
matrix Ai and T:

Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝐴1 =

𝐴2 =

𝐴3 =

𝐴4 = 03_30

𝐴5 =

𝐴6 =

𝑇60 =

Page 5 of 6
 ECE Intro to Robotics
Class Worksheet – Preparation for Lecture 8
1. Go to https://demonstrations.wolfram.com/RobotManipulatorWorkspaces/. Hand in a screenshot for
the robot design with (visually) the smallest workspace and a screenshot of the design with the largest
workspace. How should a robot be made to have a large workspace?

2. Whose workspace is this?

3. Whose workspace is this?

4.

Page 6 of 6