MECH 427 Robotics, Term , 2017

Lecture 11
Forward Kinematics (cont’d)

Shahbaz Khan
Hitec University Taxila

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Outline
Last Lecture
• Forward Kinematics:
• To define and explain the four kinematic parameters
(𝜃, 𝑑, 𝑎, 𝛼)associated with a robot
• To assign orthonormal coordinate frames to an n-joint arm using the
Denavit-Hartenberg (DH) representation.
Today:
• Forward Kinematics (cont’d):
• To construct the homogeneous transformation matrix (A) that maps
frame i coordinates into farme i-1 coordinates.
• To find the composite coordinate transformation matrix (T, known as
arm matrix) that maps tool coordinates into base coordinates
• Examples

Reference: Chapter 3 (SHV’06)

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Recap: Physical Interpretation of DH Parameters
Link length: Distance Link twist: angle between zi-1
between the zi-1 and zi and zi (measured around xi)
(along xi)

Joint angle: Angle between

xi-1 and xi (measured around
Link offset: Distance zi-1)
between oi-1 and
intersection of zi-1
and xi (along zi-1)
Note: Determine positive sense of angles by using right hand rule.
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Recap: Forward Kinematics
Let Ai : homogeneous transformation that gives position and
oritentation of link (frame) oixiyizi w.r.t. oi-1xi-1yi-1zi-1

 Rii 1 oii 1 
Ai  Ai (qi )   
 0 1 

Let H : homogeneous transformation that gives position and

oritentation of onxnynzn (tool frame) w.r.t. o0x0y0z0 (base
frame)
 Rn0 on0 
H   n  A1  q1  A2  q2   An  qn 
 0
T
0 1

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Recap: The Denavit-Hartenberg (DH) Convention
DH convention: a commonly used convention for
selecting frames of references of robot links DH Parameters (for each link i):

The convetion: Represent each homogeneous ai : link length 

 (always const)
transformation Ai as a product of four basic  i : link twist 
transformations: di : link offset
i : joint angles
Ai  Rot z ,i Trans z ,di Trans x ,ai Rot x ,i
ci  si 0 0  1 0 0 0  1 0 0 ai  1 0 0 0
  0 c 0
 si ci 0 0 0 1 0 0  0 1 0 0 
i  si

   
0 0 1 0  0 0 1 di  0 0 1 0  0 si ci 0
    
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1 
ci  si ci si si ai ci  Recall:
 
 si ci ci ci si ai si 

0 si ci di 
 
 0 0 0 1 
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Inverse Link Coordinate Transformation

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Example 2

SCARA Manipulator

Image source: http://img.directindustry.com/images_di/photo-g/scara-robot-4-axis-6076-3108685.jpg

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Direct Kinematics: The DH Convention

Step 0: Number the joints from 1 to n (starting with the base)

Step 1: Assign a coordinate frame 0 to the robot base
Step 2: Align zi with the axis of joint i+1.
Step 3: Locate the origin oi at the intersection of zi and zi-1. When there is no intersection, use
the intersection of zi with a common normal between zi andzi-1.
Step 4: Select xi to be orthogonal to zi and zi-1. If zi and zi-1 are parallel, point xi away from zi-1.
Step 5: Select yi to form a right handed orthonormal coordinate frame.
Step 7: Set the origin on at the tool tip. Align zn with the approach vector, yn with the sliding
vector, xn with the normal vector.
Step 8: Locate point bi at the intersection of the xi and zi-1 axes.
Step 9: θi is the angle of rotation from xi-1 to xi measured about zi-1 (i.e., θi is determined from
the right-hand rule).
Step 10: di = distance from origin oi-1 to bi measured along zi-1
Step 11: ai = distance from bi to origin oi (of frame i) measured along xi
Step 12: αi = angle of rotation from zi-1 to zi about xi
Example 4: The SCARA Manipulator
1
z0
y0

x0

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Example 4: The SCARA Manipulator
c1  s1 0 a1c1  c2 s2 0 a2 c2  link ai i di i
s c1 0 a1s1   s c 0 a2 s 2  1 a1 0 0 1
A1   1  , A2   2 2 ,
0 0 1 0  0 0 1 0  2 a2 180 0 2
   
0 0 0 1   0 0 0 1  3 0 0 d3 0

1 0 0 0 c4  s4 0 0  4 0 0 d4 4
0 1 0 0 s c 0 0 
A3    , A4   4 4 
0 0 1 d3  0 0 1 d4 
   
0 0 0 1 0 0 0 1

c12c4  s12 s4 c12 s4  s12c4 0 a1c1  a2c12 

s c  c s  s12 s4  c12c4 0 a1s1  a2 s12 
T40  A1  A4   12 4 12 4 
 0 0 1  d3  d 4 
 
 0 0 0 1 

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Spherical Wrist

The wrist with the highest dexterity is one where the three revolute
axes intersect at a single point. In such a case, the wrist is called a spherical
wrist, as represented.

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Example 3: Cylindrical Robot with Spherical Wrist
𝑎𝑖 : Distance between zi-1 and zi (along xi)
𝛼𝑖 : angle between zi-1 and zi (measured around xi)
𝑑𝑖 : Distance between oi-1 and intersection of zi-1 and xi
(along zi-1)
𝜃𝑖 : Angle between xi-1 and xi (measured around zi-1)
Direct Kinematics: The DH Convention

Step 0: Number the joints from 1 to n (starting with the base)

Step 1: Assign a coordinate frame 0 to the robot base
Step 2: Align zi with the axis of joint i+1.
Step 3: Locate the origin oi at the intersection of zi and zi-1. When there is no intersection, use
the intersection of zi with a common normal between zi andzi-1.
Step 4: Select xi to be orthogonal to zi and zi-1. If zi and zi-1 are parallel, point xi away from zi-1.
Step 5: Select yi to form a right handed orthonormal coordinate frame.
Step 6: Set the origin on at the tool tip. Align zn with the approach vector, yn with the sliding
vector, xn with the normal vector.
Step 7: Locate point bi at the intersection of the xi and zi-1 axes.
Step 8: θi is the angle of rotation from xi-1 to xi measured about zi-1 (i.e., θi is determined from
the right-hand rule).
Step 9: di = distance from origin oi-1 to bi measured along zi-1
Step 10: ai = distance from bi to origin oi (of frame i) measured along xi
Step 11: αi = angle of rotation from zi-1 to zi about xi
Example 3: Cylindrical Robot with Spherical Wrist
link ai i di i 𝑎𝑖 : Distance between zi-1 and zi (along xi)
1 0 0 d1 1 𝛼𝑖 : angle between zi-1 and zi (measured around xi)
2 0 -90 d2 0 𝑑𝑖 : Distance between oi-1 and intersection of zi-1 and xi
3 0 0 d3 0 (along zi-1)
4 0 -90 0 4
𝜃𝑖 : Angle between xi-1 and xi (measured around zi-1)
5 0 90 0 5
6 0 0 d6 6

01/21/2015 MECH 464/563 14

Summary
Today:
• Forward Kinematics (cont’d):
• To construct the homogeneous transformation matrix (A)
that maps frame i coordinates into farme i-1 coordinates.
• To find the composite coordinate transformation matrix (T,
known as arm matrix) that maps tool coordinates into base
coordinates
• Examples

Announcement
• Exam Next Week Best of Luck!
Next
• Inverse Kinematics

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