Chapter 3 Manipulator Kinematics

1. lntroduction:

The problem to be studied in this chapter:

Given joint displacements, determine the position and

orientation ofthe end-effector ofa robot arm in reference to
the base.

2. 4 Link Parameters: Denault - Hartenberg lttocation

A robot manipulator is usually an open mechanical linkage

formed by several rigid links lhat are connected in a chain by
lornts.

Joint Types:

o Revolute (Rotational)
o Prismatic (Translational)

Examples:

Stanford arm, PUMA RM-501 etc.

DeHRvrr - HenreNeene (D-H) NorlloH:

A conventionfor the description of manipulator linkage.

D-H notation is a convention for the assignment of a set of

frames that are attached to the links of a robot.
There are three steps to obtain link parameters according to
D-H convention:

1. Number the links and joint axes from base to tip;

2. Attach link frames as follows

I Z1-1axis coincides with joint axis i-1

o X i-r axis coincides with the common normal between joint

axis i-l and ioint axis i.
 ;t
/-t Joint a\is i
^ I Joint axis i-l
2,,
r+l

Y i-1 axis can be obtained by using right-hand rule.

:. For each link, four parameters are assigned to describe the

link itself and its connection to the neighboring link.

For link i, the four parameters are as follows:

c[ i-r - Link twist (angle from 2,, , Io 2,measured about X i-r)

fl i-r - Link length (distance from 2,, to 2,measuredalongX,-r)

di Link offset (distance from i', , to i, measured along Z i)

0, Joint angle (the angle from ,'t, , to x,measured about Z;)

Typical Link Relations:

1.

Ir -l
-\')
Yi, \
I

Yi \
"t-
Common normai
.:7
- >_
I
z,)
hetrvr'en inint qtic i ,€' )

X,, ?, l2,n 2,.

,
Zi,.;
 L^a l"r' t ..- 6 r^

N&Y h/,.& l:

Note:
o) "i-l is perpendicularto 2,

. 2,, and 2. do not intersect

o The length of their common normal = The length of link i-
i is perpendicular to 2,
i
2, and intersect
 Review D-H Convention

l. Frame setup

z, (: the i-th joint axis)

x, (: the common normal between i-th and i+ith axis)

2. Purameters

a,, ( angle between 2,, and ?-, about *,,)

a,, ( distance between 2,-, and 2, along x,,)
d, ( distance between i,-, and *, about 2,)
e, ( distance between *,, and *, about-.2,)

Remarks

r. Each frame say frame {i},, is attached tp its link(i) and

moves with th elink
2. a,,) a, 1 are always fixed;
. when joint i is rotational , then 0, is variable, d, is fixed.
. when joint i is prismatic , then d, is variable, 0, is fixed.
3. Frame {0} attached to the base is always fixed with Zo-
axis aligned with joint axisl
:
(i.e. Zyaxis) that is, cts 0 and ao - 0;
4. In case there is no joint at the gripper, a frame obtained by
a translation may be attached for convenience.
Example I
3 d.o.f Planar Manipulator

1. Set up frames;

o All Z-axis are going out since the arm is planar;

+ All joint axes are orthogonal to the plane
o Frame {0} and frame{1} have same origin
o X-axes are coincident with the corresponding links

e
2. Fill in the following tables (Link parameters with D-H
Notation)

All joints are

rotational

Note : In the above table, /3 does not show up.

 l0

Examole 2:
A 2R-1P non-planar manipulator is shown here. Determine
its D-H parameters.

Assisnment #1 (frames)

1. Set up the frames as shown

o Determin e the Z-axes, then X-axes and then Y-axes.
o Note that Frame{0} * Frame{1}

2. Fill in the table

Link i 0,, 3,, d, e,
I 00 0 It 01

2 900 0 d2 00
t
3 00 0 L2 03

D-H Parameter
 tl

Assignment #2 (frames)

Now consider the 2no frame assignment #2 shown in fir. 3

Note:Initially {1} - {0}
D-H Table
Link i 0,. 4,, d, e,
1 00 0 0 01

2 900 0 d2 0"
a
J 0" 0 lz 03
 L2

Examole 3:

Obtain the D-H parameters for the 3R non-planar

manipulator shown here

T
t
'(,

In the assignment of frames, frame { 1 } is initially the same

as frame{0}

D-H Table
Link i 0,_, d,_, d, 0,
1 00 0 0 0r
2 -900 0 -11 e"
a _t-
J 0" lz et 03
 13

5. Manipulator Kinematics:

Let 'lrbe the homogeneous transformation associated with

frames {i}and {i-1} that are attached to links i and i-1,

respectively, then anv position vector in frame {i}, denoted

by '
p , is related to '' p-the same position expressed in frame

{i-1}, by

['I 'rlt=,-,,.f
,ll
'rl
II ' LIJ

To comple te '-\r ,we introduce an intermediate frame

between frame {i}and frame{i-l}as shown below

 l4

Joint r
Link i- 1
.lornt r- I
gc

l: tYt
,XI
/k
r 'Yn
.\ / '!l rg
/tl
/ '.r,, 1 ' /
/.1
_xl ,11

2; I \

X.l

li-rt iRl lol lPl [i)

lllr
Translation along Z1 bv d1

Rotatron about Z, by 0

Translation along X1 1 b-v a, 1

Rotation about X;-; bv d,,1

 t)

il' il.rRt 0rI'z'

tt =R I ot vt tt

ROT(Xt r,a, r).fRlNS( X ,ai \).ROT (2, ,et).TRANS(.Z t,d t)

[r o o rA - s0, 00 0

i0 ca,. -so..
o
0
:lr SO, c0, 00
-t
l0
10001
.'a,_, cd,_t 0
:;ll 0
0
0
l0
01
!;.
I

I'

c0' -.4 0 ui-t

s 0,ca, .4..d - sa,-,d,
,

s 0,s a, ,
c 0,s tt, ,
ca,, cct, d, (.) { (3.6) Page 84}

THE KrNETrc EerrATroN oF Ax N-LtNx Mrxtpul,,rroR

The Cartesian position and orientation of the last link in an

n-link manipulator with respect to the base frame is given by
ur orl'r2'r n-l 1
t=1i.2t']'t.-- ul

where each'ir(I: 7,2,......, n) is givem by (*)

Assignment #3
3.1, 3.8, 3.3, 3.9, 3.4
 l6

Example I
,)T 't.rlT2T

where

'0, - s0, U 0
s0, c0, 0 U

00 I 0

1 00 0
0 0 -1 -d2
-t - 0 l0 0

0 1

c0. - s0., 0 0
s 0. c0. 0 0
0 0 1 t,

Therefore,

c9rc0, - c0,.t0^ s 0, 0rl, + s 9rtl ,

,r

s 9rc 0. - s 0,s 0. - c0, - c0.,1. - c9rd,

,\ 0. c0. 0 U
 17

ilAtvlPtt 2 ?UIWA 560

|rrt\
1/
\, t_/
%
\&
\
'\ ,-/\
/'*"

-;-I
I

T_
I
 T inlr i 0,, A,I d, e,
I 0 0 0 e,
2 -900 0 0 A
a
J 0 a" d, 0.
/I
'-t -900 a. d. A

5 900 U U e.
6 -9U" U 0 0u

c0, - s0t 0 0 c 0t .t 0, 0 0
t9. CO, 0 0 0 I 0
".7 - 0 0 I 0 ^t - * suz c0. 0 0

ce- - s0. U u2 c0^ - s9u 0 u3

se. CO, 0 U 0 0 1 d1

-t - 0 0 I d. 1l- = :;0. - c9o 0 U

 l9

c0, - s9t 0 0 c9u - s9u 0 0

0 0 -l 0 00 1 0
SO, CO, 0 0 - s0u - cQn 0 0

:r fl','
= r =', t-.)r.',] .3, t .', ! -it
r=l

Irt Y,, It-. P,

Y,, Y,, Y,, P.
1.', Y., L, P-

P, = c,(arc t + u2c23 - d 4s 21) - cl {l

P, = s.,(arc, + arcr, * cl,sr) + d rs, See Page 93 of the text
I
P" = -a3sn- ars, - dosr, --l

rr-l
l"l
't
:l See Page 92-93 rf the texr (3. 18)

ption
3.1{, 3.13, 3.15, 3.16, 3.17, 3.18, 3.19, 3.20, 3.21,3.22
 20

Remarks:

[el
nnd
1. To
la l, it only needs to compute
tP" )

P
P
-v

0a 1o .\1
Om.21
11 =t]
)a .41
3n
= l:
0 I

What if we want to know the position of point G relative to

{0}?

'"[i]
[':]=*'[':] G

I v"l
oc= rlr..l*l o.l
I p,l
= t'"tl-'l
Lrsl LP")

- lf"r(" rr"0", + sr,c, )+ s,s,,.t, ] + + orcr, - d os rrf- d.srl

"rfa.rc,
- tlt r(" r." 0", + + trfor", + arcr. - dosrrf+ drc,
"rr", )- ",r0", ] I

l(tr.cosr-c.rcr)-(arsrr+arsr+docrr) l
 22

Tn Ts ". 1

*=*r=li,';,,
Tzz Tzz ,^l
Tsz Tzz lul
laz /* r*]
where

y,, = c, ["r, ("n"rcu -susu)-sr.srcu]+t,(to"rcu)+s,(socrcu + cusu )

yr, = s, [crr(cocrcu - sosu )- sr,srcu ]- c, (socrcu )+ s, (srcrcu + cnsu )

Trr = -s23 (c4c5c6 -s4s6)-sxsjc6,

y,, = c, [cr.(- cucrsu -socu)+.r.srcu]+s,(cocu -to"rsu)

y, = s,br(-cocrsu -socu)+sr,srcu]-",("r"u -socrsul

1r, = -srr(- cocrsu - srsu)- sr.srcu,

y13 = -c, (cr.c,rs, + sr.c, )- s,sosr,

1, = -s, (crcns, +src.)+c,snsr,

Y33 = SBC4S5 -C23C5,

r.l.
p.. = cr [a2c) +a]c2l - d4s2rl- dtsl,

t,l,
fl
fy = Sr [a2c2 + a ]C2J - O4S2l l+ Olcr ,

P = -lzS zz - ars, - d ocrr.

"