Contents

Kinematics
• Object location and motion
• Transformation Matrices
• Homogenous Transformation

Forward Kinematics
Inverse Kinematics
Differential Relationships

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Object Location and Motion
Object Location
• Position of a point in space
• Locations of a rigid body in space
• Homogenous transformation matrix
Object Motion
• Translation (Transformation matrix) and inverse
• Basic Rotation (Transformation matrix) and inverse
• Examples
• Properties of homogenous transformation matrix
• Examples

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Manipulator Kinematics

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Representing an object in Physical world
• How to describe its position and orientation and
• How to describe its change of Position and orientation due to motion
Are the two basic issues we need to address before talking about
having a robot moving physical objects around.

The terms Location refers to the position and orientation of an object

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Coordinate Frames
• If ‘P’ is a vector in 𝑅𝑛 , 𝑎𝑛𝑑 𝑋 = 𝑥 1 , 𝑥 2 , 𝑥 3 … . . 𝑥 𝑛 be a complete
orthonormal set of 𝑅𝑛 , then the coordinates of P with respect to X
are denoted as [𝑃]𝑥 and are defined as
𝑛

𝑃 = ෍ [𝑃]𝑘𝑥 𝑥 𝑘
𝑘=1
• The complete orthonormal set X is sometimes called an Orthonormal
coordinate frame.
• The Kth coordinate of P w.r.t X is
[𝑃]𝑘𝑥 = 𝑃. 𝑥 𝑘

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 Coordinate Transformation

• Represent the position of p wrt fixed frame f={f1,f2,f3}

• The Coordinate transformation problem is to find the coordinates of P wrt F,
given the coordinates of P wrt M

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Coordinate
Transformation
Matrix
• Let F={f1,f2,f3…fn} and
M=[m1,m2,m3…mn} be
coordinate frames of Rn with F
being Orthonormal frame. Then
for each point P in Rn
• [𝑃]𝑓 = 𝐴[𝑃]𝑀
Where A is an n*n matrix defined
by
𝐴𝑘𝑗 = 𝑓 𝑘 𝑚𝑗 for 1≤k , j≤n

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Inverse Coordinate Transformation
• Let F and M be two Orthonormal coordinates frames in Rn, having the
same origin, and let A be the coordinate Transformation matrix that
maps M coordinates to F coordinates, then the transformation matrix
which maps F coordinates into M coordinates is given by 𝐴−1
where 𝐴−1 = 𝐴𝑇

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