AUTOMATION IN MANUFACTURING SYSTEMS

Robot Technology
M-4010

Federico Guedea Elizalde, Ph.D.

 Robot Technology

How robots are moved L4

and programmed P(x,y,z)
L2,3
J4 y
J3
J2

f
z

y
L1

J1

x
q

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 Topics

Robot Technology
2.1 Coordinates system
2.2 Robot movement Analysis

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2.1 Coordinates System
 Coordinates System

¿?
In this image it is intented to
represent a 3 dimensional
space into a 2 dimensional
¿? space

¿?
 Coordinates System

Z
The axes are represented
as follows:

Axis Z toward UP
Y

Axis Y toward RIGTH

X
Axis X toward ¿?
 Coordinates System

The RIGHT HAND rule is used to

Y
represent a dextro-rotatory
coordinates system, then axis X
X
points to outside the plane
 Coordinates System

To determine how the axis is turning, the axis has to be

“embraced” with the right hand, the thumb must point
toward the positive side, so the curling direction is the
positive rotation of the axis.
 Coordinates System

Exercise 1: Determine to where must be pointing the

missing axis according to right-hand rule

x z

x y
y

z
y

x
z
 Coordinates System

Exercise 2: Determine the new orientation after applying

the following rotation: Rot Z(90°)

y z

z y
x

y x
2.2 Movement analysis
 Robot kinematics

J2
L1 J2
L1
J1
L2
L2

J1

Joints (J) and links (L)

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 Robot Kinematics
Robot Kinematics:
Study of the movements with respect to a coordinates system.

• Analytic description of the robot’s spatial movement as a time

function
• Relationships between position and pose of the most extrem
position o the manipulator (End-Effector) and the values of their
joints

Direct Kinematics
Current value of
articulated joints Position and pose of
(q1,q2,…,qn) the End-Effector

(x,y,z, a,b,g )
Inverse Kinematics

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 Robot Kinematics

Robot kinematics can be computed or calculated using

a) Geometric relation
• Robots with a few degrees of freedom (DOF)
• It is not a systematic approach
b) Transformation Matrix
• Each link is associated with a solitary reference system
• It is posible to represent relative translations and rotations
between the links

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 Geometric position representation

y q2
L2
L1
P(x,y)

L0 q1 x

Arm manipulator with two degrees of freedom (RR).

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 Geometric position representation

y q2 Kinematic equation
L2
L1
P(x,y)
x  L1 cosq1  L2 cos(q1  q 2 )
y  L1 sen q1  L2 sen(q1  q 2 )
L0 q1 x

Arm manipulator with two degrees of freedom (RR).

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 Geometric position representation
L4
P(x,y,z)
L2,3
J4 y
J3
J2

f
z

y
L1

J1

x
q Arm manipulator with four degrees of freedom (RRL:R).

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 Geometric position representation
L4
P(x,y,z)
L2,3
J4 y
J3
J2 Kinematic equation

f
x  cosq ( L2,3 cos f  L4 cosy )
z
y  sen q ( L2,3 cos f  L4 cosy )
y
L1
z  L1  L2,3 sen f  L4 sen y
J1

x
q Arm manipulator with four degrees of freedom (RRL:R).

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 Homogeneous Transformations

• Each links has its own reference coordinates system

• It is posible to represent translations and rotations between
different links
• Matrix i-1A i represents the relative position and pose between the
associated systems of two consecutive robot links.
• It is posible to represent a total or partial kinematic chain of the
robot:
 0A3 = 0A1 1A2 2A3
 T = 0A6 = 0A1 1A2 2A3 3A4 4A5 5A6

• There are systematic methods to locate the associated

coordinates systems to each link in order to obtain the kinematic
chain of the robot.

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 Homogeneous Transformations

Point vector
x
 y
v  ai  bj  ck  
z
 
z v  w
y

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 Homogeneous Transformations

One vector can be translated or rotated in the space when

a transformation matrix is applied:

u  Hv

Translation Transformation
1 0 0 a
0 1 0 b 
H  Trans (a, b, c)  
0 0 1 c
 
0 0 0 1

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 Homogeneous Transformations
Rotation Transformations Matrices:
1 0 0 0
Rotation on axis x 0 cosq  senq 0
H  Rot ( x,q )  
0 senq cosq 0
 
0 0 0 1
Rotation on axis y
 cosq 0 senq 0
 0 1 0 0
H  Rot ( y,q )  
 senq 0 cosq 0
 
 0 0 0 1

Rotation on axis z  cosq  senq 0 0

sen q cosq 0 0
H  Rot ( z,q )  
 0 0 1 0
 
 0 0 0 1
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 Homogeneous Transformations

Example:

Given the point p=(3,7,5),

¿What will be its new position

if there is a translation T=(2,1,0) and
one rotation over axis z R(z,90º)?

¿Could have the same effect if first the rotation is applied

and next the translation?

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 Homogeneous Transformations

Solution for first approach:

p’ = TRp

p'  T(2,1,0)R ( z ,90)p 

1 0 0 2  0  1 0 0 3  5
0 1 0 1  1 0 0 0 7   4 
p'   
0 0 1 0  0 0 1  
0 5 5 
     
0 0 0 1  0 0 0 1  1   1 

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 Homogeneous Transformations

Solution for second approach: First Rotation and next Translation

p’ = RTp,
p'  R ( z ,90)T(1,2,0)p 
cos(90)  sen(90) 0 0 1 0 0 2 3  8
 sen(90) cos(90) 0 0 0 1 0 1  7   5 
p'   
 0 0 1 0  0 0 1 0  5   5 
     
 0 0 0 1  0 0 0 1  1   1 
The final points
are not the same

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 Homogeneous Transformations

If we define one arm manipulator as a series of n links,

we can find its kinematic equation using homogeneous
transformation matrices.

p'  Tnp
An-1
v A2 Tn  A1A 2  A n
An
z
Tn
A1 y
Where Ai represents
T0 Homogeneous Transformation
x matrix of link i

Ai  Rot ( z,q i ) *Trans (0,0, di ) *Trans (ai ,0,0) * Rot ( x,a i )

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 Homogeneous Transformations

The previous scheme is known as Denavit-Hartenberg

robot modeling.
It is managed as a table with the following characteristics

Link di qi ai ai Home Initial value

1
2
...
n- 1
n

Variable Fixed
components Components
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 Homogeneous Transformations

The final transformation matrix has the following definition

 nx ox ax px 
n oy ay p y 
T  y

 nz oz az pz 
 
0 0 0 1

This is the pose or This is the displacement

rotation of the Tool of the tool with respect to
Center Point (TCP) the global coordinates
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 Homogeneous Transformations

The values n, a, o and p have the following meaning:

o
p = Is the translation from the
origin represented as a vector

a
n, a and o, represent the
p
rotation of the end-effector with
z n
respect to the coordinates
y systems.
a= approach
o=orientation
x
n=normal vector to a and o.

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 Homogeneous Transformation Matrices
Denavit-Hartenberg Algorithm
1. Assign a number to each movil link starting with 1 (first movil link of the
chain) and ending with n (last movil link). The fixed base link is
numbered as 0 (zero) .
2. Assign a number to each joint starting with 1 and ending on n.
3. Locate the rotation for each joint. If it is rotatory, the axis will be is own
rotatory axis. If it is prismatic, it will be the displacement axis.
4. For i from 0 to n-1 locate axis zi over the joint axis i+1.
5. Put the origin of the base system {S0} in any point over axis z0. Axes x0
and y0 create a dextro-rotatory system with z0.

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 Homogeneus Transformations
Denavit-Hartenberg Algorithm

6. For i from 1 to n-1, locate the system {Si } in the intersection of axis zi
with the normal line commonn to zi -1 and zi . If both axes are crossing,
the system Si will be in the crossing point. If both axes are parallel {Si }
will be located on joint i +1.

7. For i from 1 to n-1, locate axis xi in the normal line common to zi -1 and zi

8. For i from 1 to n-1 locate axis yi to create a dextro-rotatory system with

xi and zi

9. Put {Sn} in the end part of the robot in such way that zn aligns with the
direction of axis zn-1 and xn is normal to zn-1 y zn

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 Homogeneus Transformations
Denavit-Hartenberg Algorithm
10. Obtain qi as the angle required to rotate around axis zi-1 so xi-1 and xi are
parallel.

11. Obtain di as the distance measured along axis zi-1, to displace {Si-1} in
such way that xi and xi-1 are aligned.

12. Obtain ai as the distance measured along xi, to match xi-1, displacing
{Si-1} to match its origin with {Si }.

13. Obtain the transformation matrices i-1A i

14. Obtain the final transformation matrix to relate the base system with the
End-Effector of the robot, T = 0A1 1A2 . . . n-1 An

15. Matrix T defines the pose or orientation (rotatory submatrix) and the
position (translation submatrix) of the TCP with respect to the robot’s
base according to the n joint coordinates

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 Homogeneus Transformations

L4
Example
L2,3
J4 q4
J3
J2

q2 Ai di qi ai ai H
z 1 q1 L1 -90
y 2 q2 L2 90
L1 3 L3
J1 4 q4 L4 -90

x
q1

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 Bibliography

Industrial Robotics: Technology, programming and

applications
Mikell P. Grooover, Mitchell Weiss, Roger N. Nagel and Nicholas G.
Odrey.

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