Kinematic Analysis Of Different Robots

Objective Of My Project:

Basics of Robotics.

Rigid Body Transformations.

Study of Denavit-Hartenberg (DH) Parameters.

Forward Kinematics.

Jacobian and its Usage.

Inverse Kinematics.

Implementation of Pseudo-Inverse and DLS method for finding the Inverse and their
Comparison.

Velocity Kinematics.

Study of Manipulability.

Case Study of SCARA Manipulator.

Introduction:

Types of Robots: Mobile and Stationary.

Robot Manipulators: Series and Parallel

Holonomic, Non-Holonomic and Redundant

Robots.

D.O.F Degrees of Freedom.

Links and Joints.

End Effector and Base Frame.

Rigid Body Transformation:

The Position vector.

Rotation Matrices.

Translation Matrices.

Successive Transformations.

DH Parameters:

Proposed by Denavit & Hartenberg

Four Parameters by which link is described in the Cartesian space.

Joint Offset - bi / di

Joint Angle - i

Link Length - ai

Twist Angle -

DH Parameters:

Of these 4 Joint Parameters, 3 are fixed for a specific Manipulator only [ ] changes
with time.

So a 4x4 Transformation Matrix can be formed which changes only when [] changes
for a specific Manipulator.

=
This is the matrix which transforms the i-1 coordinate frame to i th frame.

Forward Kinematics:
e= f ()

Determining the position and orientation of every link by knowing the joint variables of
the robot.

It is used for the transformation of base frame to the End Manipulator frame.

There are Two methods in Forward Kinematics:

By DH Parameters
By using Rigid Body Transformation.

Jacobian Matrix:

Jacobian can be normally calculated by partial differentiation of vectors X,Y, Z which are
functions of the Joint Variable []=[1, 2, 3, .. , n ] where n = No. of Links

By this method it is not possible to calculate Jacobian with in a short period.

And in a Robot, we need to calculate the Jacobian matrix in a very short time for every
configuration of the robot.
So the another way of calculating each column separately.

J = [c1, c2, c3, .. , cn ]

=

For Revolute

For Prismatic

Inverse Kinematics:
= f-1 ( e )

Converting the Cartesian variables to Joint Variables.

Multiple solutions

Some methods are:

1.

Decoupling Technique P = 0Tn d

Tn = 0T1 1T2 2T3 .............

n-1

Tn =

n-1

0
1

T2 2T3 3T4 .............

Tn
Tn =

2.

Inverse Transformation Technique

3.

:
Iterative Technique ( Newton- Ralphsons method ).
I = n-1Tn-1 ... 1T2-1 0T1-1 0Tn

T1-1 0Tn

START

[ai] [di], [i],

[]ini , [g], Tol
,

POSITION
INVERSE KINEMATICS

Forward Kinematics:
[e] = f ()
[error] = [g] [e]

No

[error]
<
Tol

Yes

[e] = x [error]

Compute [J]
Inverse of
Jacobian [J]

Record values of
[]

STOP
Inverse
Kinematics:
[] = [J] x [e]

[]i+1 = []I + []

Save []

Inverse Kinematics:

Inverse of Jacobian can be known by

1.

Normal Inverse (Square Matrix)

2.

Using Pseudo-Inverse (Non-Square)

3.

Using Damped Least Squares (Non-Square & Singular)

While Passing Through a Singularity Point

SCARA
Joint Velocity V/s Time

(rev/s)

Time(s)

(rev/s)
Time(s)

Using DLS method

Using Pseudo-Inverse only

What is Singularity ???

Velocity Kinematics:

Relates the Linear velocity V of End-Effector to

the joint velocities dq/dt'.

Forward and Inverse Kinematics.

v= f()
= f-1(v)

Also it tells about the position of the End-Effector

START

[ai] [di], [i],

[]ini , [g], Tol
,,V

VELOCITY
INVERSE KINEMATICS

Forward Kinematics:
[e] = f ()
[error] = [g] [e]

No

[error]
<
Tol

Yes

Duration= [error] /
V

Compute [J]
Inverse of
Jacobian [J]
Inverse
Kinematics:
[]= []=[J] x
[V]

[]i+1 = []I + []

Save [], , t

Record values of
[], , t

STOP

Manipulability:

Measure of how manipulable a Manipulator.

Yoshikawa
T

x =1

vT x [(JJT)-1] x v=1

Manipulability
Circles.

Thank You