Forward and Inverse Kinematic

Equations
POSITION
Cartesian (Gantry or Rectangular)
coordinates
• 3 linear movements across x, y and z-
direction.
• All 3 linear actuators
• Gantry robot is basically a cartesian
coordinate robot.
• No rotations only translations.
PROBLEM
 Cylindrical coordinates
• It includes two linear translations and 1
rotation.
• Sequence of:-
1. Translation of r along x-axis
2. Rotation of α along z-axis
3. Translation of l along z-axis
Cylindrical coordinate system
 Spherical Coordinates
• It consists of 1 linear motion and two
rotations.
• Sequence of:-
1. Translation of r along z-axis
2. Rotation of β along y-axis
3. Translation of γ along z-axis
Spherical Coordinate system
• First 3 columns represent orientation of the
frame
• Last column is the position
Forward and Inverse Kinematic
Equations
ORIENTATION
1)RPY(Roll, Pitch, Yaw)
2) Euler Angles
RPY Rotation
RPY
Forward Kinematics
Inverse Kinematic Solution(RPY)
Inverse Kinematics (RPY)
 EULER ANGLES
• Euler angles are similar to RPY except that last
rotation is about a-axis.
Inverse Kinematics (Euler Angles)
Denavit- Hartenberg(DH) Representation
• DH is a representation of forward kinematic
equations of robots
• Very simple way of representing robotic joints
and links that can be used for any robot
configuration.
• θ represents rotation about z-axis
• d represents distance on z-axis between 2
successive common normals (JOINT OFFSET)
• a represents link length(length of each
common normal) (LINK LENGTH)
• α represents angle between two successive z-
axes(JOINT TWIST ANGLE)