ROBOT DESIGN AND

DEVELOPMENT
MR-3001B
PROF. CRISTÓBAL OCHOA LUNA
TECNOLÓGICO DE MONTERREY
AGUASCALIENTES, MÉXICO
GRABCAD CUMMUNITY
FEBRUARY – JUNE 2023
ROBOT DESIGN AND
DEVELOPMENT
MR3001B
SUBJECT 2. KINEMATICS OF ROBOTS
CONTENTS

2. Robot Kinematics
2.1 Position and orientation of a rigid body
 Spatial descriptions and transformations
SPATIAL DESCRIPTIONS AND TRANFORMATIONS

Robotic manipulation

Represent position and

orientations

Define coordinate
systems
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and frames.

Position
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and frames.

Position 𝑝𝑝𝑥𝑥
𝐴𝐴 𝐵𝐵
𝑌𝑌�𝐴𝐴 𝐴𝐴
𝑃𝑃 = 𝑝𝑝𝑦𝑦 𝑌𝑌�𝐵𝐵

𝑝𝑝𝑧𝑧 𝑍𝑍̂B

𝑋𝑋�𝐴𝐴 𝑋𝑋�𝐵𝐵

𝑝𝑝𝑥𝑥
𝑍𝑍̂𝐴𝐴 𝐵𝐵
𝑃𝑃 = 𝑝𝑝𝑦𝑦
𝑝𝑝𝑧𝑧
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and frames.

Position
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and frames.

Orientation 𝐴𝐴
𝑌𝑌�𝐴𝐴

𝑋𝑋�𝐴𝐴

𝑍𝑍̂𝐴𝐴
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and reference frames

Orientation 𝐴𝐴 𝑋𝑋�𝐵𝐵 𝑌𝑌�𝐵𝐵 𝑍𝑍̂𝐵𝐵

𝑌𝑌�𝐴𝐴
�𝐵𝐵
𝐴𝐴 𝑋𝑋 �𝐵𝐵
𝐴𝐴 𝑌𝑌 𝐴𝐴 𝑍𝑍̂
𝐵𝐵

�𝐵𝐵
𝐴𝐴 𝑋𝑋 �𝐵𝐵
𝐴𝐴 𝑌𝑌 𝐴𝐴 𝑍𝑍̂
𝑋𝑋�𝐴𝐴 𝐵𝐵

𝑍𝑍̂𝐴𝐴
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and reference frames

Orientation

𝑟𝑟11 𝑟𝑟12 𝑟𝑟13

𝐴𝐴
𝐵𝐵𝑅𝑅 = 𝐴𝐴 �
𝑋𝑋𝐵𝐵 �𝐵𝐵
𝐴𝐴𝑌𝑌 𝐴𝐴𝑍𝑍̂
𝐵𝐵 = 𝑟𝑟21 𝑟𝑟22 𝑟𝑟23
𝑟𝑟31 𝑟𝑟32 𝑟𝑟33
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS

Orientation 𝐴𝐴 𝑋𝑋�𝐵𝐵 𝑌𝑌�𝐵𝐵 𝑍𝑍̂𝐵𝐵

𝑌𝑌�𝐴𝐴
�𝐵𝐵
𝐴𝐴 𝑋𝑋 �𝐵𝐵
𝐴𝐴 𝑌𝑌 𝐴𝐴 𝑍𝑍̂
𝐵𝐵

�𝐵𝐵
𝐴𝐴 𝑋𝑋 �𝐵𝐵
𝐴𝐴 𝑌𝑌 𝐴𝐴 𝑍𝑍̂
𝑋𝑋�𝐴𝐴 𝐵𝐵

𝑍𝑍̂𝐴𝐴
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS

Orientation 𝐴𝐴
𝑌𝑌�𝐴𝐴

𝑋𝑋�𝐴𝐴

𝑍𝑍̂𝐴𝐴
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13
𝐴𝐴 𝑟𝑟
𝐵𝐵𝑅𝑅 = 21
𝑟𝑟22 𝑟𝑟23
Orientation
𝑌𝑌�𝐴𝐴
𝐴𝐴 𝑟𝑟31 𝑟𝑟32 𝑟𝑟33
𝑋𝑋�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑋𝑋�𝐴𝐴
= 𝑋𝑋�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑌𝑌�𝐴𝐴
𝑋𝑋�𝐴𝐴
𝑋𝑋�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑍𝑍̂𝐴𝐴

𝑟𝑟11 𝑟𝑟12 𝑟𝑟13

𝐴𝐴
𝐵𝐵𝑅𝑅 = 𝐴𝐴 �
𝑋𝑋𝐵𝐵 �𝐵𝐵
𝐴𝐴𝑌𝑌 𝐴𝐴𝑍𝑍̂
𝐵𝐵 = 𝑟𝑟21 𝑟𝑟22 𝑟𝑟23
𝑟𝑟31 𝑟𝑟32 𝑟𝑟33
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13
𝐴𝐴 𝑟𝑟
𝐵𝐵𝑅𝑅 = 21
𝑟𝑟22 𝑟𝑟23
Orientation
𝑌𝑌�𝐴𝐴
𝐴𝐴 𝑟𝑟31 𝑟𝑟32 𝑟𝑟33
𝑋𝑋�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑋𝑋�𝐴𝐴
= 𝑋𝑋�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑌𝑌�𝐴𝐴
𝑋𝑋�𝐴𝐴
𝑋𝑋�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑍𝑍̂𝐴𝐴
𝑋𝑋�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑋𝑋�𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑋𝑋�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵
= 𝑌𝑌�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵
𝑍𝑍̂𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑍𝑍̂𝐵𝐵
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
𝑟𝑟11 𝑟𝑟12 𝑟𝑟13 𝑋𝑋�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑋𝑋�𝐵𝐵
𝐴𝐴 𝑟𝑟
𝐵𝐵𝑅𝑅 = 21
𝑟𝑟22 𝑟𝑟23 𝐴𝐴 𝑇𝑇 � �
𝐵𝐵𝑅𝑅 = 𝑋𝑋𝐴𝐴 � 𝑌𝑌𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑌𝑌�𝐵𝐵
𝑟𝑟31 𝑟𝑟32 𝑟𝑟33 𝑋𝑋�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑍𝑍̂𝐵𝐵
𝑋𝑋�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑋𝑋�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑋𝑋�𝐴𝐴
= 𝑋𝑋�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑌𝑌�𝐴𝐴 𝐴𝐴 𝑇𝑇
𝐵𝐵𝑅𝑅 = 𝐵𝐵𝐴𝐴𝑅𝑅
𝑋𝑋�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑌𝑌�𝐵𝐵 � 𝑍𝑍̂𝐴𝐴 𝑍𝑍̂𝐵𝐵 � 𝑍𝑍̂𝐴𝐴
𝑋𝑋�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑋𝑋�𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑋𝑋�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵 𝐴𝐴 𝑇𝑇
𝐵𝐵𝑅𝑅 �
𝐴𝐴
𝐵𝐵𝑅𝑅 = 𝐼𝐼3
= 𝑌𝑌�𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑌𝑌�𝐴𝐴 � 𝑍𝑍̂𝐵𝐵 𝐴𝐴 𝐵𝐵 −1 𝐵𝐵 𝑇𝑇
𝐵𝐵𝑅𝑅 = 𝐴𝐴 𝑅𝑅 = 𝐴𝐴𝑅𝑅
𝑍𝑍̂𝐴𝐴 � 𝑋𝑋�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑌𝑌�𝐵𝐵 𝑍𝑍̂𝐴𝐴 � 𝑍𝑍̂𝐵𝐵
SPATIAL DESCRIPTIONS AND TRANSFORMATIONS
 Description of positions, orientations and reference frames
Frame
The point to be defined could be arbitrary, but for convenience the origin of the
coordinate system of the orientation is chosen.

𝐴𝐴 𝐴𝐴
𝐵𝐵 = 𝐵𝐵𝑅𝑅, 𝑃𝑃𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵