Robot Arms and kinematics

Introduction
INTRODUCTION

Forward Kinematics:
to determine where the robot’s hand is?
(If all joint variables are known)

Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
Direct Kinematics
with no matrices

Where is my hand?

Direct Kinematics:
HERE!
 Direct Kinematics
• Position of tip in (x,y) coordinates
 Kinematic Problems for
Manipulation
• Reliably position the tip - go from one position to another position

• Don’t hit anything, avoid obstacles

• Make smooth motions

– at reasonable speeds and
– at reasonable accelerations

• Adjust to changing conditions -

– i.e. when something is picked up respond to the change in weight
 ROBOTS AS
MECHANISMs
 Robot Kinematics:
ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 2.1 A one-degree-of-freedom Fig. 2.2 (a) Closed-loop versus (b)

closed-loop four-bar mechanism open-loop mechanism
Representation Chapter 2 of a Point in
RobotSpace
Kinematics: Position Analysis

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P  a x i  by j  c z k

Fig. 2.3 Representation of a point in space

Representation of
Chapter 2 a Vector in
Robot Space
Kinematics: Position Analysis

A Vector P in space :
3 coordinates of its tail and of its head

__ ^ ^ ^
P  a x i  by j  c z k
x
__  y
P 
z
 
 w
Fig. 2.4 Representation of a vector in space
Representation of a
Chapter 2 Frame at the
Origin of aRobot
Fixed-Reference
Kinematics: Position Analysis Frame

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

 nx ox a x 
F  n y o y a y 
 nz oz a z 

Fig. 2.5 Representation of a frame at the origin of the

reference frame
Representation of
Chapter 2 a Frame in a
Fixed Reference
Robot Kinematics: PositionFrame
Analysis

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

The
same as
last slide

 nx ox a x Px 
n o y a y Py 
F  y

 nz oz a z Pz 
 
0 0 0 1

Fig. 2.6 Representation of a

frame in a frame
Representation of a 2Rigid Body
Chapter
Robot Kinematics: Position Analysis

An object can be represented in space by attaching a frame

to it and representing the frame in space.

 nx ox a x Px 
n o y a y Py 
Fobject   y

 nz oz a z Pz 
 
0 0 0 1

Fig. 2.8 Representation of an

object in space
 HOMOGENEOUS
Chapter 2
TRANSFORMATION MATRICES
Robot Kinematics: Position Analysis

A transformation matrices must be in square form.

• It is much easier to calculate the inverse of square

matrices.

• To multiply two matrices, their dimensions must match.

 nx ox a x Px 
n o y a y Py 
F  y

 nz oz a z Pz 
 
0 0 0 1