Professional Documents
Culture Documents
Outline
Review
Robot Manipulators
Robot Configuration
Robot Specification
Number of Axes, DOF
Precision, Repeatability
Kinematics
Preliminary
World frame, joint frame, end-effector frame
Rotation Matrix, composite rotation matrix
Homogeneous Matrix
Direct kinematics
Denavit-Hartenberg Representation
Examples
Inverse kinematics
Review
What is a robot?
By general agreement a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creatureusually a human.
Manipulators
Robot arms, industrial robot
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted
on a flange or plate secured
to the wrist joint of robot
Manipulators
Robot Configuration:
Cartesian: PPP
Cylindrical: RPP
Spherical: RRP
Hand coordinate:
Articulated: RRR
SCARA: RRP
(Selective Compliance
Assembly Robot Arm)
Manipulators
Motion Control Methods
Point to point control
a sequence of discrete points
spot welding, pick-and-place, loading & unloading
Manipulators
Robot Specifications
Number of Axes
Major axes, (1-3) => Position the wrist
Minor axes, (4-6) => Orient the tool
Redundant, (7-n) => reaching around
obstacles, avoiding undesirable
configuration
What is Kinematics
Forward kinematics
Y ( x, y, z , O, A, T )
y
x
What is Kinematics
Inverse kinematics
End effector position
and orientation
( x, y, z , O, A, T )
q (q1 , q2 , q3 , q4 , q5 , q6 , qn )
Example 1
Forward kinematics
x0 l cos
y0
y0 l sin
y1
x1
Inverse kinematics
cos ( x0 / l )
1
x0
10
Preliminary
Robot Reference Frames
World frame
Joint frame
Tool frame
z
z
y
x
y
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Preliminary
Coordinate Transformation
Reference coordinate frame
OXYZ
Body-attached frame Ouvw
Pxyz [ p x , p y , p z ]
Pxyz p x i x p y jy p z k z
T
Puvw pu i u pv jv pw k w
Two frames coincide ==>
w
v
O, O
pu p x pv p y pw p z
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Preliminary
Properties: Dot Product
3
x
y
R
Let and be arbitrary vectors in
and be
the angle from x to y , then
x y x y cos
i j 0
i k 0
k j 0
Unit vectors
| i | 1
| j | 1
| k | 1
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Preliminary
Coordinate Transformation
Rotation only
Pxyz p x i x p y jy p z k z
Puvw pu i u pv jv pw k w
P
y
v
Pxyz RPuvw
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Preliminary
Basic Rotation
p x i x P i x i u pu i x jv pv i x k w pw
p y jy P jy i u pu jy jv pv jy k w pw
p z k z P k z i u pu k z jv pv k z k w pw
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Preliminary
Basic Rotation Matrix
px i x i u
p j i
y y u
p z k z i u
i x jv
j y jv
k z jv
i x k w pu
j y k w pv
k z k w pw
Rot ( x, ) 0 C
0 S
S
C
P v
x
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Preliminary
Is it True?
Rotation about x axis with
0
px 1
p 0 cos
y
p z 0 sin
pu
sin pv
cos pw
0
P v
p x pu
p y pv cos pw sin
p z pv sin pw cos
17
1 0
Rot ( x, ) 0 C
0 S
0
S
C
C
Rot ( y, ) 0
S
Pxyz RPuvw
C
Rot ( z , ) S
0
0
1
S
0
0 C
S
C
0
0
0
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Preliminary
Basic Rotation Matrix
ix iu
R jy i u
k z i u
i x jv
j y jv
k z jv
pu i u i x
p j i
v v x
pw k w i x
i u jy
jv j y
k w jy
ix k w
jy k w
k z k w
Pxyz RPuvw
jv k z
k w k z
QR R T R R 1 R I 3
px
p
y
p z
Puvw QPxyz
Q R 1 R T
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Example 2
A point auvw (4,3,2) is attached to a rotating frame,
the frame rotates 60 degree about the OZ axis of
the reference frame. Find the coordinates of the
point relative to the reference frame after the
rotation.
a xyz Rot ( z ,60)auvw
0.5 0.866 0 4 0.598
0.866
0.5
0 3 4.964
0
0
1 2
2
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Example 3
A point a xyz (4,3,2) is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated
OU-V-W coordinate system if it has been
rotated 60 degree about OZ axis.
auvw Rot ( z ,60)T a xyz
0.5
0.866 0 4 4.598
0.866 0.5 0 3 1.964
0
0
1 2
2
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22
Example 4
Find the rotation matrix for the following
operations:
Rotation about OY axis
Rotation about OW axis
Rotation about OU axis
Answer...
S
CC
CS
SC SSC CS CC SSS
23
Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}
description of {B} as
seen from an observer
in {A}
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Coordinate Transformations
Two Special Cases
r RB r r
A P
A o'
1. Translation only
Axes of {B} and {A} are
parallel
A
RB 1
2. Rotation only
Origins of {B} and {A}
are coincident
r 0
A o'
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Homogeneous Representation
Coordinate transformation from {B} to {A}
r AR B B r P A r o '
A P
Ar P
A RB
013
B P
r
r
1 1
A o'
RB
TB
013
R33
1 0
A o'
P31
Scaling
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Rotation
matrix
Position
vector
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Homogeneous Transformation
Special cases
1. Translation
I 33
A o'
013
A RB
031
013
TB
2. Rotation
TB
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Example 5
Translation along Z-axis with h:
1 0 0 0
0 1 0 0
Trans ( z , h)
0 0 1 h
0
0
0
1
x 1 0
y 0 1
z 0 0
1 0 0
0
0
1
0
0
0
h
pu pu
p p
v
v
pw pw h
1
1
P
y
w
v
v
O, O
O, O
x
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Example 6
Rotation about the X-axis by
Rot ( x, )
1 0
0 C
x
y
z
1
0 C
0 S
0
S
C
0
0
0
1
pu
pv
pw
P v
u
x
y
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Homogeneous Transformation
Composite Homogeneous Transformation
Matrix
Rules:
Transformation (rotation/translation) w.r.t
(X,Y,Z) (OLD FRAME), using premultiplication
Transformation (rotation/translation) w.r.t
(U,V,W) (NEW FRAME), using postmultiplication
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Example 7
Find the homogeneous transformation matrix
(T) for the following operations:
Rotation about OX axis
Translation of a along OX axis
Translation of d along OZ axis
Rotation of about OZ axis
Answer :
T Tz , Tz ,d Tx ,aTx , I 44
C
S
S
C
0 0
0 0
1 0
0 1
1 0 0 0 1
0 1 0 0 0
0 0 1 d 0
0
0
0
1
0 0 a
1 0 0
1 0
0 C
0 1 0 0
0 0 1 0
0
S
0
0
0
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Homogeneous Representation
A frame in space (Geometric
Interpretation)
R33
F
0
P31
nx
n
F y
nz
sx
ax
sy
sz
0
ay
az
0
P( px , p y , pz )
a (z)
px
p y
pz
s(y)
n (X)
y
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Homogeneous Transformation
Translation
1 0 0 d x nx
0 1 0 d n
y
Fnew
y
0 0 1 d z nz
0
0
0
1
0
nx s x a x p x d x
n s a
d
y
y
y
y
y
nz s z a z p z d z
0
0
0
1
sx
sy
ax
ay
sz
az
px
p y
pz
s
n
s
n
y
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Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1
z2
y2
z0
y1
A1
y0
A2
x1
x0
?
i 1
x2
A2 0A1 1 A2
Ai
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Example 8
y5
a
For the figure shown below, find the 4x4 homogeneous transformation
matrices i 1 Ai and 0 Ai for i=1, 2, 3, 4, 5
0
1 0 0
n
s
a
p
x
x
x
x
c
0 0 1 e c
n s a
0
py
y
y
y
A1
z3
F
0 1 0 a d
nz s z a z p z
y3 x
0
0
0
1
d
z5
0 0 0 1
x5
b
0 1 0
0 0 1 a d
z4
e
1
A2
1 0 0
0
y4
z2
x4
x2
0
0
0
1
z1
z0
x0
y0
x1
y2
0
y1
1
0
A2
Can you find the answer by observation based
0
on the geometric interpretation of
1
0
0
0
0 b
0 e c
1
0
0
1
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Orientation Representation
R33
F
0
P31
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Orientation Representation
Euler Angles Representation ( , , )
Many different types
Description of Euler angle representations
Euler Angle I
Euler Angle II
Roll-Pitch-Yaw
Sequence
about OZ axis
about OZ axis
about OX axis
of
about OU axis
about OV axis
about OY axis
about OW axis
about OZ axis
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v'"
v"
v'
y
u'"
u' =u"
38
Orientation Representation
Euler Angle I
cos
Rz sin
0
Rw''
cos
sin
0
sin
cos
0
0 , Ru '
1
sin
cos
0
1
0 cos
0 sin
sin ,
cos
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Euler Angle I
Resultant eulerian rotation matrix:
R Rz Ru ' Rw''
cos cos
sin cos
cos sin cos
sin sin
cos sin
sin cos cos
sin sin
cos cos cos
cos sin
sin sin
cos sin
cos
40
v"'
v' =v"
y
u"'
Notetheopposite
(clockwise)senseofthe
thirdrotation,.
u'
u"
41
Orientation Representation
Matrix with Euler Angle II
sin sin
cos sin
sin cos cos
sin cos
sin cos cos
cos cos
sin cos cos
cos sin
sin sin
cos sin
sin sin
cos
42
Orientation Representation
Description of Roll Pitch Yaw
Z
X
Quiz: How to get rotation matrix ?
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Thank you!
Homework 1 is posted on the web.
Due: Sept. 16, 2008, before class
Next class: kinematics II
z
z
z
x
z
y
x
y
x
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