Scribd Logo
Upload

Welcome to Scribd!

  • Week 5

    Uploaded by

    Abaidullah Sajid
    3 views15 pages
    The document discusses robot kinematics including link lengths, joint offsets, twists and angles. It provides the transformation matrix used to relate reference frames between links. Examples are given of computing the transformation matrices for specific robot arms including the PUMA 560 and Motoman L-3. Standard reference frames are defined and an example problem is presented to calculate the kinematics of a planar robotic arm.

    Original Description:

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    The document discusses robot kinematics including link lengths, joint offsets, twists and angles. It provides the transformation matrix used to relate reference frames between links. Examples are given of computing the transformation matrices for specific robot arms including the PUMA 560 and Motoman L-3. Standard reference frames are defined and an example problem is presented to calculate the kinematics of a planar robotic arm.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    3 views15 pages

    Week 5

    Uploaded by

    Abaidullah Sajid
    The document discusses robot kinematics including link lengths, joint offsets, twists and angles. It provides the transformation matrix used to relate reference frames between links. Examples are given of computing the transformation matrices for specific robot arms including the PUMA 560 and Motoman L-3. Standard reference frames are defined and an example problem is presented to calculate the kinematics of a planar robotic arm.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 15

    ME- 489 Robotics and Automation

    Manipulator Kinematics

    1
    ME- 489 Robotics and Automation

    Link Length Joint Offset

    Link Twist Joint Angle

    2
    ME- 489 Robotics and Automation

    Transformation Matrix:

    Link Twist Link Length Joint Offset Joint Angle


    1 0 0 0 1 0 0 𝑎𝑖−1 1 0 0 0 𝐶𝜃𝑖 −𝑆𝜃𝑖 0 0
    0 𝐶𝛼𝑖−1 −𝑆𝛼𝑖−1 0 0 1 0 0 0 1 0 0 𝑆𝜃𝑖 𝐶𝜃𝑖 0 0
    0 𝑆𝛼𝑖−1 𝐶𝛼𝑖−1 0 0 0 1 0 0 0 1 𝑑𝑖 0 0 1 0
    0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1

    3
    ME- 489 Robotics and Automation

    Example 3.6

    𝐶𝜃1 −𝑆𝜃1 0 0
    0 𝑆𝜃1 𝐶𝜃1 0 0
    1 𝑇 =
    0 0 1 0
    0 0 0 1
    1 0 0 0
    1 0 0 −1 −𝑑2
    2𝑇 =
    0 1 0 0
    0 0 0 1
    𝐶𝜃3 −𝑆𝜃3 0 0
    2 𝑆𝜃3 𝐶𝜃3 0 0
    3 𝑇 =
    0 0 1 𝐿2
    0 0 0 1
    4
    ME- 489 Robotics and Automation

    Kinematics of Unimation PUMA 560

    5
    6
    ME- 489 Robotics and Automation

    7
    ME- 489 Robotics and Automation

    8
    ME- 489 Robotics and Automation

    9
    ME- 489 Robotics and Automation
    • Kinematics of Yasukawa Motoman L-3
    • 5 DoF, 5R mechanism

    10
    11
    ME- 489 Robotics and Automation

    Kinematics of Yasukawa Motoman L-3

    12
    ME- 489 Robotics and Automation
    • Frames with Standard Names
    • The Base Frame, 𝐵
    • The Station Frame, 𝑆
    • The Wrist Frame, 𝑊
    • The Tool Frame, 𝑇
    • The Goal Frame, 𝐺

    13
    ME- 489 Robotics and Automation
    • Problem 3.1
    • Compute Kinematics of planar arm of fig shown

    14
    ME- 489 Robotics and Automation

    𝐶𝜃1 −𝑆𝜃1 0 0 𝐶𝜃2 −𝑆𝜃2 0 𝐿1


    0 𝑆𝜃1 𝐶𝜃1 0 0 1 𝑆𝜃2 𝐶𝜃2 0 0
    1𝑇 = 2𝑇 =
    0 0 1 0 0 0 1 0
    0 0 0 1 0 0 0 1

    𝐶𝜃3 −𝑆𝜃3 0 𝐿2
    2 𝑆𝜃3 𝐶𝜃3 0 0
    3 𝑇 =
    0 0 1 0
    0 0 0 1 15

    You might also like