Kinematics of Robotics

Robotics
(EMeng 6012)
Kinematics of Robotics
Getnet Ayele (PhD)

Department of Mechanical Engineering
Faculty of Mechanical And Industrial Engineering
Bahir Dar Institute of Technology, Bahir Dar University
Bahir Dar, Ethiopia.
• Kinematics deals with the study of motion without considering the forces acting
on the robot structure. (e.g. position, velocity, acceleration, higher derivatives of
the position)
1. Forward Kinematics: Required position and orientation is determined from a

given set of joint angles.
2. Inverse Kinematics: Joint angles of all joints in the arm are determined from
the given position and orientation.
Robot Motion
1. Point to point motion: The path has no importance.
2. Continuous path motion: The path taken is very important.
 Path taken by the robot end effector within the work volume is known as
trajectory.
Getnet Ayele (PhD), Robotics, BiT (Faculty Of Mechanical And Industrial Engineering), Bahir Dar, Ethiopia. 1
Cont...
Problem
Given: The manipulator geometrical

parameters
Specify: The position and orientation of
manipulator
Solution
Coordinate system or “Frames” are

attached to the manipulator and objects
in the environment
 Linear movement => Force acting  We study the motion of different

 Rotary movement => Torque acting Joint angles and links geometry
Cont...
Representation of 3D objects
 U-Represent universal coordinate(reference
frame) of axis XU, YU and ZU.
 B- Represent Body coordinate (body frame) of
axis XB, YB and ZB.
How Represent position and orientation of 3D
object?
We find the mass center of the 3D object and
coordinate system XB,YB and ZB
 3-Position
 3-Rotation/Orientation
Cont...
Representation of the position
The location of any point in can be described as a 3x1 position vector in a reference coordinate
system
Cont...
Representation of the Rotation/ Orientation
The orientation of a body is described by attaching a coordinate system to the body {B} and then
defining the relationship between the body frame and the reference frame {A} using the rotation
matrix.
The rotation matrix describing frame {B}

relative to frame {A}
Cont...
Description of Frame
The information needed to completely specify where is the manipulator hand is a position and an
orientation.
Cont...
Homogeneous Transformation
 Translation
 Translation is the linear displacement made by a point along a straight line
about x, y or z axis.
 Rotation
 Rotation is the angular displacement made by a point about x, y or z axis.
Roll- rotation moment in X axis

Pitch- rotation moment in Y axis
Yaw- rotation moment in Z axis
Cont...
Mapping - Translated Frames
Assuming that frame {B} is only translated (not rotated) with respect frame {A}.
The position of the point can be expressed in frame {A} as follows.
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Mapping - Rotated Frames
Assuming that frame {B} is only rotated (not translated) with respect frame {A} (the origins of the
two frames are located at the same point) the position of the point in frame {B} can be expressed
in frame {A} using the rotation matrix as follows:
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Mapping - Rotated Frames- Inversion
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Example- Mapping - Rotated Frame
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Mapping - Rotated Frames - General Notation
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Mapping - Rotated Frames - Methods
• X-Y-Z Fixed Angles

The rotations perform about an axis of a fixed reference frame
• Z-Y-X Euler Angles

The rotations perform about an axis of a moving reference frame
Cont...
Mapping - Rotated Frames - X-Y-Z Fixed Angles
Cont...
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Mapping - Rotated Frames - Z-Y-X Euler Angles
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Operator - Rotating Vector
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Example: Operator - Rotating Vector
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Mapping - General Frames
T-Transform
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Mapping - Homogeneous Transform
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Homogeneous Transform - Special Cases
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Example: Homogeneous Transform
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Transformation Arithmetic - Compound Transformations
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Transformation Arithmetic - Inverted Transformation
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Example : Inverted Transformation
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Roll, Pitch and Yaw
Cont...
Example : Roll, Pitch and Yaw
Cont...
Denenvit-Hartenberg (DH) parameters/notations
• Proposed in the year 1995
Cont...
Link Parameters (Denenvit-Hartenberg )- Length & Twist
Cont...
Joint Variables (Denenvit-Hartenberg ) - Angle & Offset
Cont...
DH Parameters Table
Example: For frame 1

Joint Z0 parallel Joint Z1
Frame X0 intersect frame X1
Like wise for frame 2

 Frame X1 same line frame X2 is the distance is zero
 Joint Z1 parallel Joint Z2 is the angle is zero
Cont...
Example: Derivation of link Homogeneous Transformation
Find the translation of Axis i-1 -> Axis i
i 1
iT  RX ( i 1 )Trans X (ai 1 ) RZ ( i )TransZ (d i )
Cont...
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Summery
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Kinematics Relations - Forward & Inverse
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Example: Forward kinematics
DH Parameters Table
The aim is to determine position and orientation.

Cont...
Example: Inverse kinematics The aim is to determine Joint angles of all joints .
C12  C1C2  S1S 2

From Eq. 1
DH Parameters Table
L1  L2C2   sin  L2 S 2   cos 

Eq.1
Eq.2 q x  C1  sin   S1 cos    sin(  1 )
L L S
By squiring and adding Eq. 1 and Eq. 2   tan 1 1 2 2
L2 S 2
Same step like
Cont...
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Forward & Inverse: Method of Solution
Cont...
Example: Inverse Kinematics - 3D RRR (3R) - Geometric Solution
Cont...
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Examples: PUMA 560- Algebraic Solution
DH- Parameter
Cont...
Link Transformation
Cont...
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Examples: Stanford Manipulator- Algebraic Solution
DH- Parameter
Cont...
Link Transformation
Cont...
Kinematics Relations - Joint & Cartesian Spaces
Cont...
 Jacobian Matrix The Jacobian is a multi dimensional
form of the derivative.
Suppose that for example we have 6
functions, each of which is a function of
6 independent variables
y1  f1 ( x1 , x2 , x3 , x4 , x5 , x6 )
y2  f 2 ( x1 , x2 , x3 , x4 , x5 , x6 )

y6  f 6 ( x1 , x2 , x3 , x4 , x5 , x6 )
We may also use a vector notation to

write these equations as
Y  F (X )
Cont...
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Example: Jacobian Matrix by Differentiation - 1R
Cont...
• The moment about the joint

generated by the force acting on
the end effector is given by
Cont...
Concept of Singularity
Cont...
Cont...

Kinematics of Robotics

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Robotics

Getnet Ayele (PhD)

1. Forward Kinematics: Required position and orientation is determined from a

Given: The manipulator geometrical

Coordinate system or “Frames” are

 Linear movement => Force acting  We study the motion of different

The rotation matrix describing frame {B}

Roll- rotation moment in X axis

• X-Y-Z Fixed Angles

• Z-Y-X Euler Angles

Example: For frame 1

Like wise for frame 2

The aim is to determine position and orientation.

C12  C1C2  S1S 2

L1  L2C2   sin  L2 S 2   cos 

We may also use a vector notation to

• The moment about the joint

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