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Chapter 4, Kinematics of Robots
Chapter 4, Kinematics of Robots
Conventions ( ) االتفاقيات:
Throughout this book, we will use the following conventions for describing vectors,
frames, transformations, and so on:
Vectors : i, j, k, x,y, z, n,o ,a ,p
Vector components:
Frames:
Transformation:
(transformation of robot relative to Universe, where Universe is a fixed frame)
Where and
are the three components of the vector in the reference frame.
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Matrix representation
The three components of the vector can also be written in the matrix form as in the
equation (2.5).
Where,
• Axes x,y,z,are used to represent the fixed universe reference frame(RF) Fx,y,z.
• Axes n,o,a are used to represent another moving frame Fn,o,a relative to the RF.
Each direction of each axis of a frame Fn,o,a located at the origin of a reference
frame Fx,y,z (Figure below)
is represented by its three
directional cosines relative
to the RF. Consequently,
the three axes of the
frame can be represented
by three vectors in matrix
form as:
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Representation of a Frame Relative to a Fixed Reference
Frame
The location (position) of a movable frame relative to the RF is described by a
vector between the origin of the frame and the origin of the reference frame
(Figure). Similarly, this vector is expressed by its components relative to the
reference frame. Therefore, the frame can
be expressed by three vectors describing
its directional unit vectors and
a fourth vector describing its location as:
As shown in Equation, the first three vectors are directional vectors with w = 0,
representing the directions of the three unit vectors of the frame Fn,o, a , while the
fourth vector with w = 1 represents the location of the origin of the frame relative
to the reference frame.
An object can be represented in space by attaching a frame to it and representing the frame as shown below.
As discussed before, a frame can be represented by a matrix, where the origin of the
frame and the three vectors representing its orientation relative to the reference frame are
expressed. Therefore,
As a result, the values representing a frame in a matrix must be such that the above
equations remain true. Otherwise, the frame will not be correct. Alternatively, the first
three constraints can be replaced by a cross product of the three vectors as:
• The reason for multiple solutions is that with the given parameters, it is possible to have two sets of mutually
perpendicular vectors in opposite directions. The final matrix will be:
• A matrix Aij is called a square matrix if the number of rows (m) is equal to the
number of columns (n) so that the dimensions of the matrix are m×n=m×m. Matrix which
represents the direction alone is a 3×3 matrix. If the matrix represents both direction and
position(location), a scale factor should be added to make the matrix square
(4×4).Matrices of this form are called homogeneous matrices and we refer to them as:
Note that the new location of the frame relative to the fixed reference frame can be found by adding the
vector representing the translation to the vector representing the original location of the origin of the frame
(P+d).
In conventional form:
Where, transformation of frame R relative to universe (U)
p relative to frame R
The same results for the rotation of a frame about the y- and z-axes of the reference frame can be
obtained as:
- After the second transformation, the coordinates of the point relative to the RF are
As you can see, the coordinates of the point relative to the reference frame at
the conclusion () ختامof each transformation are found by pre-multiplying the
coordinates of the point by each transformation matrix.
Solution:
To calculate (UTE ) using the forward path, all transformations of this path should be found. In fact, all the
transformation are known except the transformation of frame H relative to frame R ( RTH ) . To calculate this
matrix (RTH ) , unlike in an algebraic equation, we cannot simply divide the right side by the left side of the
equation. We need to pre- or post-multiply by inverses of inverse matrices to eliminate them. As a result, we will
have:
So, we get
[ ]
𝑛𝑥 𝑛𝑦 𝑛𝑧 −(𝑝 𝑥 𝑛𝑥 +𝑝 𝑦 𝑛 𝑦 +𝑝 𝑧 𝑛 𝑧 )
𝑜 𝑜𝑦 𝑜𝑧 −(𝑝 𝑥 𝑜 𝑥 +𝑝 𝑦 𝑜 𝑦 +𝑝 𝑧 𝑛𝑧 )
¿ 𝑥
𝑎𝑥 𝑎𝑦 𝑎𝑧 −( 𝑝 𝑥 𝑎 𝑥 + 𝑝 𝑦 𝑎 𝑦 +𝑝 𝑧 𝑎 𝑧 )
0 0 0 1
[ ]
1 0 0 1
0 0.766 − 0.643 5
0 0.643 0.766 4
0 0 0 1
[ ]
𝟏 𝟎 𝟎 −𝟏
𝟎 𝟎 .𝟕𝟔𝟔 𝟎 .𝟔𝟒𝟑 − 𝟔 .𝟒𝟎𝟐
𝟎 −𝟎 . 𝟔𝟒𝟑 𝟎 .𝟕𝟔𝟔 𝟎 .𝟏𝟓𝟏
𝟎 𝟎 𝟎 𝟏
Solution: Referring to the previous Equation of robot for drilling, we can write a similar equation that
relates the different transformations and frames together as:
Since RT5 Appears on both sides of the equation, we can simply neglect it, then E
Tobj can be found as
Substituting the matrices and the inverses in the above equation will result: