Transformation

• Joint motion controls end –effector.

• Therefore study of kinematics is important
• In robotics applications, many different
coordinate systems can be used to define where
robots, sensors, and other objects are located.
• Transformations between the coordinate frames
attached to different robot links of the robot
need to be performed
Forward Kinematics:
to determine where the robot’s hand is?
(If all joint variables are known)

Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
 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

Joint variables -Formula?

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 Robot Architecture
• A robot is made up of several links connected
serially by joints. z
• The robot’s degree of
freedom (DOF) depends on :
• number of links and joints y
• Types of link and joint
• Kinematic chain of the robot x

5
 Links and joints
• The individual bodies that make up a robot are
called 'links.'.
z
• A rigid body in the three dimensional Cartesian
space has six DOF.
• position of the body can be described by three
translational, and the orientation by three
rotational coordinates.
• Links of a robot are coupled by kinematic pairs
or joints.
• A 'joint' couples two links and provides
physical constraints on the relative motion
between the links

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 Joints types:Revolute Joint, R
• A revolute joint, also known as a 'turning pair'
or a 'hinge' or a 'pin joint,' permits two paired
links to rotate with respect to each other
about the axis of the joint.
• Revolute joint imposes five constraints and
one DOF

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 Joints types:Prismatic Joint, P
• A 'prismatic joint' or a 'sliding pair' allows two
paired links to slide with respect to each other
along its axis.
• This joint also imposes five constraints and
one DOF.

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 Joints types:Helical Joint,H
• Helical joint allows two paired links to rotate
about and translate at the same time along
the axis of the joint.
• This joint also imposes five constraints and
one DOF.

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 Joints types:Cylindrical Joint, C
• It permits rotation about, and independent
translation along, the axis of the joint.
• This joint imposes four constraints and two
DOFs.

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 Joints types:Spherical Joint
• It allows one of the coupled links to rotate
freely in all possible orientation with respect
to the other one about the center of a sphere.
• it imposes three constraints and has three-
DOF.

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 Joints types:Planar Joint, P
• This three-DOF joint allows two translations
along the two independent axes of the plane
of contact and one rotation about the axis
normal to the plane,.

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 kinematic chain
• A 'kinematic chain' is a series
of links connected by joints.
• When each and every link in
a kinematic chain is coupled
to at most two other links
the chain is referred to as
'simple kinematic chain.‘
• A simple kinematic chain can
be either 'closed' or 'open.'.

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 ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 1 A one-degree-of-freedom closed-loop Fig. 2 (a) Closed-loop versus (b) open-loop mechanism
four-bar mechanism
 DOF
The number of independent coordinates or minimum
coordinates required to fully describe its pose or
configuration.
Grublermethod to find DOF:
s : dimension of working space (For planar, s = 3; spatial, s = 6);
r : number of rigid bodies or links in the system;
p : number of kinematic pairs or joints in the system;
ci : number of constraints imposed by each joint;
c : total number of constraints imposed by p joints;
ni : relative degree of freedom of each joint;
n : degree of freedom of the whole system.
 Four –Bar Mechanism

For s=3,r=4,p=4

n = 3 (4 − 4 − 1) + (1 +
1 + 1 + 1) = 1
1.For s=6,r=5,p=5
All revaluate joint
2.For s=3.r=2,p=2
All prismatic joint

Example 5.2, 5.3, 5.4