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Definition of Kinematics
a pure geometrical description of motion by means of position, orientation,
velocity, and acceleration. Forces and torques causing the motion are not
considered
There are two kinematics
o Forward Kinematics (angles to position)
What you are given: The length of each link The angle of each joint
What you can find: The position of any point (i.e. it’s (x, y, z) coordinate
o Inverse Kinematics (position to angles)
What you are given: The length of each link, The position of some point on the
robot
What you can find: The angles of each joint needed to obtain that position
Review on Manipulators
Homogeneous Representation
• A point in space
Orientation Représentation Or Euler
Angles
•
Description of Yaw, Pitch, Roll
Robot Links and Joints
• Robot Links and Joints
Denavit-Hartenberg Convention
Number the joints from 1 to n starting with the base and ending with
the end-effector.
Establish the base coordinate system. Establish a right-handed
orthonormal coordinate system at the supporting base with axis
lying along the axis of motion of joint 1.
Establish joint axis.
Establish Xi axis. Establish or along the common normal between the
Zi-1 & Zi axes when they are parallel
Establish Yi axis. Assign to complete the right-handed coordinate
system.
Example I