Chapter-4

Robot Kinematics
 Robot Kinematics

• Kinematics = the motion of bodies

• We are interested in two kinematics topics
• Forward Kinematics (angles to position)

• What you are given:

The length of each link
The angle of each joint

• What you can find:

The position of any point (i.e. it’s (x, y, z) coordinates)
Example – direct kinematics
Velocity kinematics and Jacobian
Joint velocity from Inverse Jacobian
Transformation matrix
 Inverse kinematics
Inverse Kinematics (position to angles)
• What you are given:
– The length of each link
– The position of some point on the robot

• What you can find:

– The angles of each joint needed to obtain that position
Inverse kinematics
Inverse kinematics contd
Exercise
Home work
Homogenous Transformation matrix
method
Inner product method
Collecting and simplifying
Transformation Matrix
 Example

So, the two vectors, (2,4,6) and (-0.806,4.398,6) are same but described
in different coordinate system.
What about pure rotation about x and y
Properties of the Rotation Matrix
Kinematics using Transformation
Denavit – Hartenberg
DENAVIT-HARTENBERG REPRESENTATION
The necessary motions to transform from one
reference frame to the next.

(I) Rotate about the zn-axis an able of n+1. (Coplanar)

(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis
with zn+1-axis.
Denavit-Hartenberg Representation
D-H parameters
Kinematics of Elbow Manipulator
D-H
Transformation matrix from D-H Table