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Robot
Manipulator
1
Examples of Kinematics
Calculations
• Forward kinematics
z
Given joint variables
q (q1 , q2 , q3 , q4 , q5 , q6 , qn )
y
x
Y ( x, y, z , O, A, T )
End-effector position and orientation,
-Formula?
Examples of Inverse Kinematics
• Inverse kinematics
End effector position z
and orientation
( x, y, z , O, A, T )
y
q (q1 , q2 , q3 , q4 , q5 , q6 , qn ) x
Inverse kinematics
x0
cos ( x0 / l )
1
4
Robot Reference Frames
– World frame
– Joint frame
– Tool frame
z
y
z x
y T P
W
x
R
5
Coordinate Transformation
– Reference coordinate frame OXYZ
– Body-attached frame O’uvw
z
Point represented in OXYZ: P
Pxyz [ px , p y , pz ] T
y
w
Pxyz px i x p y jy pz k z v
x y x y cos
Properties of orthonormal coordinate frame
• Mutually perpendicular • Unit vectors
i j 0 | i | 1
i k 0 | j | 1
k j 0 | k | 1
7
Coordinate Transformation
• Coordinate Transformation
– Rotation only z
P
Pxyz px i x p y jy pz k z
y
Puvw pu i u pv jv pwk w w v
Pxyz RPuvw u
x
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Basic Rotation
• Basic Rotation
– p x , p y, and p z represent the projections of P onto
OX, OY, OZ axes, respectively
– Since P pu i u pv jv pwk w
px 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
pz k z P k z i u pu k z jv pv k z k w pw
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Basic Rotation Matrix
• Basic Rotation Matrix
px i x i u i x jv i x k w pu
p j i jy jv
jy k w pv
y y u
pz k z i u k z jv k z k w pw
– Rotation about x-axis with
z
w
1 0 0 P v
Rot ( x, ) 0 C
S
0 S C y
u
x 10
Is it True? Can we check?
•
– Rotation about x axis with
p x 1 0 0 pu
p 0 cos
sin pv
y z
p z 0 sin cos pw w
P v
p x pu
p y pv cos pw sin
y
p z pv sin pw cos u
x
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Basic Rotation Matrices
– Rotation about x-axis with
1 0 0
Rot ( x, ) 0 C S
0 S C
– Rotation about y-axis with
C 0 S
Rot ( y, ) 0 1 0
S 0 C
pu i u i x i u jy i u k z px
p j i jv j y
jv k z p y Puvw QPxyz
v v x
pw k w i x k w jy k w k z p z
Q R 1 RT
QR RT R R 1 R I 3 <== 3X3 identity matrix
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Example 2: rotation of a point in a rotating
frame
• 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.
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Example 4: finding a rotation matrix
• Find the rotation matrix for the following
operations:
R Rot ( y, ) I 3 Rot ( w, ) Rot (u , )
Rotation about OY axis
C 0 S C S 0 1 0 0
Rotation about OW axis 0 1 0 S C 0 0 C S
Rotation about OU axis - S 0 C 0 0 1 0 S C
CC SS CSC CSS SC
S CC CS
Answer... SC SSC CS CC SSS
• description of {B} as
seen from an observer
in {A}
1. Translation only
– Axes of {B} and {A} are
parallel A
RB 1
2. Rotation only
– Origins of {B} and {A} are
coincident
A o'
r 0
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Homogeneous Representation
• Coordinate transformation from {B} to {A}
r ARB B r P Ar o '
A P
A r P A RB A r o ' B r P
1 013 1 1
• Homogeneous transformation matrix
RB r R33 P31
A A o' Rotation
TB
A matrix
013 1 0 1 Position
vector
Scaling
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Homogeneous Transformation
• Special cases
1. Translation
I 33 r
A o'
A
TB
013 1
2. Rotation
A
RB 031
A
TB
013 1
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Example 5: translation
• Translation along Z-axis with h:
1 0 0 0 x 1 0 0 0 pu pu
0 1 0 0 y 0 1 0 0 pv pv
Trans ( z, h)
0 0 1 h z 0 0 1
h pw pw h
0 0 0 1 1 0 0 0 1 1 1
z z P
P
w y
y
w v
v
x O, O’
u x
h
O, O’
u
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Example 6: rotation
• Rotation about the X-axis by
1 0 0 0 x 1 0 0 0 pu
0 C 0 y 0 C
S S 0 pv
Rot ( x, )
0 S C 0 z 0 S C 0 p w
0 0 0 1 1 0 0 0 1 1
z
w
P v
y
u
x 23
Homogeneous Transformation
• Composite Homogeneous Transformation
Matrix
• Rules:
– Transformation (rotation/translation) w.r.t (X,Y,Z)
(OLD FRAME), using pre-multiplication
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Example 7: homogeneous
transformation
• Find the homogeneous transformation matrix (T)
for the following operations:
Rotation about OX axis
Translatio n of a along OX axis
Translatio n of d along OZ axis
Rotation of about OZ axis T Tz , Tz ,d Tx ,aTx , I 44
Answer :
C S 0 0 1 0 0 0 1 0 0 a 1 0 0 0
S C 0 0 0 1 0 0 0 1 0 0 0 C S 0
0 0 1 0 0 0 1 d 0 0 1 0 0 S C 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
Homogeneous Representation
• A frame in space (Geometric
Interpretation) P( px , p y , pz )
z
R33 P31 a (z’)
F
s(y’)
0 1 n (X’)
y
nx sx ax px
n sy ay p y
F y
nz sz az pz x
0 0 0 1
Principal axis n w.r.t. the reference coordinate system
Homogeneous Transformation
• Translation a
s
1 0 0 d x nx s x ax px z n
0 1 0 d y n y s y ay p y
a
Fnew s
0 0
1 d z nz s z az pz
n
0 0 0 1 0 0 0 1
nx sx ax px d x y
n s y a y p y d y
y
nz sz az pz d z
0 0 0 1
Fnew Trans (d x , d y , d z ) Fold
Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1 z2 y2
y1 x2
z0 0
A1 1
A2
y0
x1
0
A2 A1 A2
0 1
x0
?
i 1 Transformation matrix for
Ai adjacent coordinate frames
nx sx ax px 1 0 0 0
c
n 0 0 1 e c
sy ay p y A1
F y
0
z3 0 1 0 a d
b y3 x3 nz sz az pz
z5 d 0 0 0 1
0 0 0 1
x5 0 1 0 b
y5 z4 0 0 1 a d
A2
e 1
x4 y4 z2 1 0 0 0
a
x2 0 0 0 1
z1 x1 y2
z0 0 1 0 b
y1 1 0 0 e c
x0
y0
Can you find the answer by observation
0
A2
0 0 1 0
based on the geometric interpretation of
homogeneous transformation matrix? 0 0 0 1
Orientation Representation
R33 P31
F
0 1
• Rotation matrix representation needs 9 elements
to completely describe the orientation of a rotating
rigid body.
• Any easy way?
w'= z
w'"= w"
v'"
v"
v'
y
u'"
u' =u"
x
Orientation Representation
• Euler Angle I
cos sin 0 1 0 0
Rz sin cos 0 , Ru ' 0 cos sin ,
1 0 sin cos
0 0
cos sin 0
Rw'' sin cos 0
0 1
0
Euler Angle I
Resultant eulerian rotation matrix:
w'= z
w"'= w"
v"'
v' =v"
y
u"'
u"
Note the opposite u'
(clockwise) sense of the x
third rotation, .
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Orientation Representation
• Matrix with Euler Angle II
sin sin sin cos
cos sin
cos cos cos sin cos cos
cos sin cos cos sin sin
sin cos cos sin cos cos
cos
cos sin sin sin
Quiz: How to get this matrix ?
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Orientation Representation
• Description of Roll Pitch Yaw
Z
Y
X
Jizhong Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu
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The City College of New York