ROBOT

KINEMATICS PART 1

S I M P L I F I E D

S L I D E S P R E P A R E D B A S E D F R O M T H E R O B O T I C I N S T I T U T E - C A R N E G I E M E L L O N
C O P Y R I G H T H O W I E C H O S E T, 2 0 0 7 A N D O T H E R S O U R C E S
 DEGREE OF FREEDOM

• The Puma 560 has 6 revolute joint.

• A revolute joint have one (1) degree of Freedom
(DOF) defined by its angle
 KINEMATICS

• Forward kinematics (angles to position)

The position of any point
– Given: Length of each link & We can find
(x,y,x) coordinates
– The angle of each joint

• Inverse kinematics (position to angles)We can find The angle of each joint needed to
– Given: Length of each link & obtain that position
– The position of some point in the robot
MATRICES REVIEW
•The
  two vectors A and B can be written as:
A = axi + ayj and B = bxi + byj
Dot product of a vector will give us a scalar answer i.e. the magnitude.
A . B = AB cos θ
We can represent the dot product of vectors A and B as matrix where:
A. B =

From this point onward: vector quantities are bold while scalar quantities are not
 UNIT VECTOR
•Given
  a vector A, the unit vector of A is a vector with the same direction and magnitude of 1.
Usually denotes as u.

By dividing a vector with its own magnitude, we get the unit vector whose magnitude is 1
 TRANSLATION ALONG X-AXIS
• The above diagram shows vector Vxy in the x-y frame.
The vector Vxy end at a point in the coordinate (vx,,vy).
We can the the vector Vxy as Vxy = vxi + vyj.
• Suppose we have another coordinate frame (N-O). Px
is the distance from the origin of coordinate frame x-y
and the origin of coordinate frame N-O. We can write
Px as a vector Px = Pxi.
• The same coordinate point (vx,vy) can also be describe
as coordinate (VN,VO) when we look at it from the N-O
coordinate frame.
• From the origin of N-O coordinate frame, a vector VNO
from the N-O origin to the (VN,Vo) coordinate can be
written as VNO = VNi + Voj.
 TRANSLATION ALONG X-AXIS
•  We can write all the vectors into matrix forms
Vxy = Px = VNO =
• Since Vxy is basically the sum of two vectors Px and VNO we can write Vxy as:
Vxy = Px + VNO
= + =
 TRANSLATION ALONG X-AXIS AND Y-AXIS

•  This time the coordinate frame N-O is translated to a vector Pxy = Pxi + Pyj.
• In matrix form Pxy =
TRANSLATION ALONG X-AXIS AND Y-AXIS
•  We can write all the vectors into matrix forms
Vxy = Px = VNO =
• Since Vxy is basically the sum of two vectors Px and VNO we can write Vxy as:
Vxy = Px + VNO
=+ =
 UNIT VECTORS

•  n or is the unit vector along the N-axis

• o or is the unit vector along the O-axis
• *remember, bolded value is a vector
• VNO = = = where is the magnitude of vector VNO
• Since VNO.n = |VNO||n|cos θ the matrix can be written as
 ROTATION AROUND THE Z-AXIS

•  In this case vector V can be described as both Vxy or VNO.

• In matrix form Vxy = and VNO =
θ
ROTATION AROUND THE Z-AXIS
• x is the unit vector along x-axis
• Vector V can either be Vxy or VNO
• |Vxy| = |VNO|

• The x-component of Vxy is Vx

• Vx = |Vxy| cos α = |VNO| cos α
• Since we can also write Vx = Vxy ∙ x, we can also write Vx = VNO∙ x (dot product)`
• Substituting for VNO using the N and O components of the vector we get:
Vx = VN n + VO o) ∙ x
= VN(x ∙ n) + VO(x ∙ o)
= VN(cos θ) + VO(cos (θ + 90o)
= VN(cos θ) + VO(sin θ)
 ROTATION AROUND THE Z-AXIS
• Similarly
  for the y-component Vy:
Vy = |Vxy| sin α = |VNO| sin α = |VNO| cos (90 – α) = VNO∙ y
Vy = VN n + VO o) ∙ y
= VN(y ∙ n) + VO(y ∙ o)
= VN(cos (90o - θ) + VO(cos θ)
= VN(sin θ) + VO(cos θ)

• So
Vx = VN cos θ – Vosin θ and Vxy =
Vy = VN sin θ + VO cos θ

In matrix form
Vxy = = this is the rotation matrix about the z-axis
 TRANSLATION FOLLOWED BY ROTATION

•  
• Px and Py are relative to the original coordinate frame. Translation followed by rotation is
different from rotation followed by translation.
 HOMOGENEOUS REPRESENTATION
•   translation and rotation
= padding with 0’s and 1’s (for z-axis)
= simplifying into matrix form

H =

H is the Homogeneous Matrix for a translation in

XY plane followed by a rotation around the Z-axis
HOMOGENEOUS REPRESENTATION
 R = Rotation around the Z-axis
z

Ry = Rotation around the Y-axis

Rx = Rotation around the X-axis

 HOMOGENOUS MATRICES IN 3D
• H is a 4 x 4 matrix that can describe a translation, rotation or both in one matrix

Could be rotation about the z-axis, x-axis and y-

axis or a combination of the three
HOMOGENOUS MATRICES IN 3D
END OF PART 1