Chapter 4

DIRECT & INVERSE

KINEMATICS OF
Robots
 TOPICS

Robot Task
Kinematics formulation and parameterization

Kinematic Methods

Spatial relation between joint axes

DH frames & Parameters

DH matrix

Direct kinematics of manipulator

Inverse kinematics of manipulator

Robot Task
Robot Task
 Robot Task

T  px 
dE  
T
rp   p y 
0 
 

(only this case)

0
 
E
rp   0 
h
T
d E  T rP  PT rE  T rP  ET rP  T rP  T RE E rP  
Kinematics formulation and parameterization
Open kinematic chains
Clasification
Kinematic Methods
Kinematic Methods
 Numbering of Links and Joints
Phương pháp D-H
Spatial relation between joint axes
Spatial relation between link axes
DH frames
Ambiguities in defining of DH frames
Ambiguities in defining of DH frames
DH parameters
Kinematic Methods
 DH matrix

i-1 Ti’ (qi) =

Ti =
i’

i-1 Ti (qi) =
 Direct kinematics of manipulator

( 0T1 )

=BTE Er (=BTE[0 0 0 1]’)

 Direct kinematics of manipulator

Example: SCARA
Step 1: Joints and links numbering
Step 1: Joint axes
Step 2: Link axis
Step 4: DH frames
 Direct kinematics of manipulator
Example: SCARA
Step 5: DH table of parameters
Step 6: Transformation matrices
Step 7: Composition of Matrices
Step 8: Direct kinematics
a1
a2

(1)
(2)
d3 (d3)
d1(+) d4 (-) (4)
 Direct kinematics of manipulator
Example: SCARA Step 5: DH table of parameters
Step 6: Transformation matrices
Step 7: Composition of Matrices
Step 8: Direct kinematics

( 0T3 )

( 3T4 )
 Direct kinematics of manipulator
Example: SCARA Step 5: DH table of parameters
Step 6: Transformation matrices
Step 7: Composition of Matrices
Step 8: Direct kinematics

( 0T4 )
 Direct kinematics of manipulator

Example: Plane 3R robot

Step 1: Joints and links numbering
Step 1: Joint axes
Step 2: Link axis
Step 4: DH frames
 Direct kinematics of manipulator

Step 5: DH table of parameters

Step 6: Transformation matrices
Step 7: Composition of Matrices
Step 8: Direct kinematics
 Direct kinematics of manipulator
Example: Elbow arm

(lo)
lo
-
xo
 Direct kinematics of manipulator
Example: Wrist
x6 l6 (n) x7

z6 (a) z7

0
 Direct kinematics of manipulator
Example: Wrist
x7
x6 z7

z6 y7

0
 Direct kinematics of manipulator
Example: Stanford

x7
z7

y7

0
7 0 0 (l6) 0
d7

-
 Direct kinematics of manipulator
Example: Standord Manipulator
 Direct kinematics of manipulator
Example: Standord Manipulator
 Direct kinematics of manipulator
Example: Standord Manipulator

x6 x7
d7

z7
z6
y7

0
7 0 0 d7 0
In this case, we just copy the DH table of the
wrist derived in the previous
 Direct kinematics of manipulator
Example: Puma 260
 Direct kinematics of manipulator
Example: Puma 260
 Direct kinematics of manipulator
Example: Kuka
 Direct kinematics of manipulator
Example: Space station remote manipulator system (SSRMS).
Shuttle remote manipulator system (SRMS)

2

3
 Direct kinematics of manipulator
Example: Space station remote manipulator system (SSRMS).
Shuttle remote manipulator system (SRMS)

7
Inverse kinematics of manipulator

( 0Tn )
 Inverse kinematics of manipulator
Sovability and robot workspace
 Inverse kinematics of manipulator
Sovability and robot workspace
 Inverse kinematics of manipulator
Wrist position and E-E pose
 Inverse kinematics of manipulator
Wrist position and E-E pose
 Inverse kinematics of manipulator
Multiplicity of solutions
 Inverse kinematics of manipulator
Multiplicity of solutions
 Inverse kinematics of manipulator
Multiplicity of solutions
 Inverse kinematics of manipulator
Multiplicity of solutions
 Inverse kinematics of manipulator
https://www.youtube.com/watch
Redundant Robot ?v=VHfx4unIASM

https://www.youtube.com/wa
tch?v=ZiqC9emBk00

Dexter
(8R)

https://www.youtube.com/watch?v=7GdiN6KmGCc
 Inverse kinematics of manipulator
Solution methods
 Inverse kinematics of manipulator
Planar 2R robot
 Inverse kinematics of manipulator
Planar 2R robot
 Inverse kinematics of manipulator
Planar 2R robot
 Inverse kinematics of manipulator
RRP robot
 Inverse kinematics of manipulator
3R elbow robot
 Inverse kinematics of manipulator
3R elbow robot
 Inverse kinematics of manipulator
3R elbow robot
 Inverse kinematics of manipulator
3R elbow robot
 Inverse kinematics of manipulator
3R elbow robot

0rp=T03*3rP

l1
0
 Inverse kinematics of manipulator
3R elbow robot

- -
 Inverse kinematics of manipulator
3R elbow robot

2=???
 Inverse kinematics of manipulator
Fundamental inverse solutions
 Inverse kinematics of manipulator
Robot arm with Wrist
 Inverse kinematics of manipulator
Robot arm with Wrist

d6
 Inverse kinematics of manipulator
Robot arm with Wrist
 Inverse kinematics of manipulator
Robot arm with Wrist
 Inverse kinematics of manipulator
Robot arm with Wrist
 Inverse kinematics of manipulator
Robot arm with Wrist
 Inverse kinematics of manipulator
Numerical method
 Inverse kinematics of manipulator
Newton-Raphson method

Example: planar 2R robot

 Inverse kinematics of manipulator
Example: planar 2R robot
Inverse kinematics of manipulator
Inverse kinematics of manipulator
 Inverse kinematics of manipulator
Properties of Gradient method
 Inverse kinematics of manipulator
Example
Inverse kinematics of manipulator
Inverse kinematics of manipulator
Inverse kinematics of manipulator
Inverse kinematics of manipulator
Inverse kinematics of manipulator
Inverse kinematics of manipulator
Inverse kinematics of manipulator
 Inverse kinematics of manipulator
Final remarks