Kinematics
Time to Derive Kinematics Model
of the Robotic Arm
Where is my hand?
Direct Kinematics:
HERE!
Objective:
To drive a method to compute the
position and orientation of the
manipulator’s end-effector relative to the
base of the manipulator as a function of
the joint variables.
Degrees of Freedom
The degrees of freedom of a rigid body is defined as
the number of independent movements it has.
DOF of a Rigid Body
In a plane
In space
Degrees of Freedom
3 position
3D Space = 6 DOF
3 orientation
In robotics:
DOF = number of independently driven joints
positioning accuracy
As DOF computational complexity
cost
flexibility
power transmission is
more difficult
Robot Links and Joints
A manipulator may be thought of as a set of
bodies (links) connected in a chain by joints.
In open kinematics chains (i.e. Industrial
Manipulators):
{No of D.O.F. = No of Joints}
Robot Joints
Revolute Joint
1 DOF ( Variable - q)
Spherical Joint Prismatic Joint
3 DOF ( Variables - q 1, q 2, q 3) 1 DOF (linear) (Variables - d)
An Example - The PUMA 560
2
3
1 4
The PUMA 560 has SIX revolute joints.
A revolute joint has ONE degree of freedom There are two more joints on the
end-effector (the gripper)
( 1 DOF) that is defined by its angle.
Note on Joints
Without loss of generality, we will consider
only manipulators which have joints with a
single degree of freedom.
A joint having n degrees of freedom can
be modeled as n joints of one degree of
freedom connected with n-1 links of zero
length.
Link
A link is considered as a rigid body which
defines the relationship between two
neighboring joint axes of a manipulator.z zn+1n
zn
an q n+1
x n+1
qn xn
xn
Link n
Joint n+1
Joint n
The Kinematics Function of a Link
The kinematics
function of a link is to
maintain a fixed
relationship between
the two joint axes it
supports.
This relationship can
be described with
two parameters: the
link length a, the link
twist a
Link Length
Is measured along a line which is mutually
perpendicular to both axes.
The mutually perpendicular always exists
and is unique except when both axes are
parallel.
Link twist
Project both axes i-1 and i onto the plane
whose normal is the mutually perpendicular
line, and measure the angle between them
Right-hand sense
Link Length and Twist Axis i
Axis i-1
ai-1
Joint Parameters
A joint axis is established at the connection of two links.
The relative position of two links is called link offset dn
whish is the distance between the links (the
displacement, along the joint axes between the links).
The joint angle qn between the normals is measured in
a plane normal to the joint axis.
Link and Joint Parameters
Axis i
Axis i-1
qi di
ai-1
Link and Joint Parameters
4 parameters are associated with each link. You
can align the two axis using these parameters.
Link parameters:
an the length of the link.
an the twist angle between the joint axes.
Joint parameters:
qn the angle between the links.
dn the distance between the links
Link Connection Description:
For Revolute Joints: a, a, and d.
are all fixed, then “qi” is the.
Joint Variable.
For Prismatic Joints: a, a, and q.
are all fixed, then “di” is the.
Joint Variable.
These four parameters: (Link-Length ai-1), (Link-Twist ai-1(, (Link-Offset di),
(Joint-Angle qi) are known as the Denavit-Hartenberg Link Parameters.
Links Numbering Convention
Base of the arm: Link-0 Link 2
2
1st moving link: Link-1 3 Link 3
.
. Link 1
1
.
.
. Link 0
. 0
Last moving link Link-n
A 3-DOF Manipulator Arm
First and Last Links in the Chain
a0= an=0
a0= an=0
If joint 1 is revolute: d0= 0 and q1 is arbitrary
If joint 1 is prismatic: d0 is arbitrary and q1 = 0
Special cases:
If joint axes zi-1 and zi intersect, parameter ai
is zero.
If the common perpendicular to zi-1 and zi
intersects zi-1 at the origin of frame Fi-1, then
di-1 is zero.
If joint axes zi-1 and zi are parallel, angle ai is
zero.
Affixing Frames to Links
In order to describe the location of each link
relative to its neighbors we define a frame
attached to each link.
The Z axis is coincident with the joint axis i.
The origin of frame is located where ai
perpendicular intersects the joint i axis.
The X axis points along ai( from i to i+1).
If ai = 0 (i.E. The axes intersect) then Xi is
perpendicular to axes i and i+1.
The Y axis is formed by right hand rule.
Affixing Frames to Links
First and last links
Base frame (0) is arbitrary
Make life easy
Coincides with frame {1} when joint parameter is 0
Frame {n} (last link)
Revolute joint n:
Xn = Xn-1 when qn = 0
Origin {n} such that dn=0
Prismatic joint n:
Xn such that qn = 0
Origin {n} at intersection of joint axis n and Xn when dn=0
Affixing Frames to Links
The Kinematics Model
The robot can now be kinematically modeled by
using the link transforms ie:
0
nT T1T2T3 Ti Tn
Where
0 T is the pose of the end-effector relative to
n
base;
Ti is the link transform for the ith joint;
and
n is the number of links.
The Denavit-Hartenberg (D-H)
Representation
In the robotics literature, the Denavit-
Hartenberg (D-H) representation has been
used, almost universally, to derive the
kinematic description of robotic
manipulators.
The Denavit-Hartenberg (D-H)
Representation
The appeal of the D-H representation lies in
its algorithmic approach.
The method begins with a systematic
approach to assigning and labeling an
orthonormal (x,y,z) coordinate system to
each robot joint. It is then possible to relate
one joint to the next and ultimately to
assemble a complete representation of a
robot's geometry.
Denavit-Hartenberg
Parameters
Axis i
Axis i-1 qi
di
ai-1
The Link Parameters
ai = the distance from zi to zi+1.
measured along xi.
ai = the angle between zi and zi+1.
measured about xi.
di = the distance from xi-1 to xi.
measured along z i.
qi = the angle between xi-1 to xi.
measured about z i
The Link Parameters
.
General Transformation Between Two Bodies
In D-H convention, a general transformation
between two bodies is defined as the product
of four basic transformations:
A translation along the initial z axis by d,
A rotation about the initial z axis by q,
A translation along the new x axis by a, and.
A rotation about the new x axis by a.
General Transformation Between Two Bodies
.
Denavit-Hartenberg Convention Summary
D1. Establish the base coordinate system. Establish a right-handed
orthonormal coordinate system ( X 0 , Y0 , Z0 ) at the supporting base
with Z0 axis lying along the axis of motion of joint 1.
D2. Initialize and loop Steps D3 to D6 for I=1,2,….n-1
D3. Establish joint axis. Align the Zi with the axis of motion (rotary
or sliding) of joint i+1.
D4. Establish the origin of the ith coordinate system. Locate the
origin of the ith coordinate at the intersection of the Z i & Zi-1 or at
the intersection of common normal between the Zi & Zi-1 axes and
the Zi axis.
D5. Establish Xi axis. Establish along the common normal between
the Zi-1 & Zi axes when they are parallel.
D6. Establish Yi axis. Assign to complete the right-handed
coordinate system.
Denavit-Hartenberg Convention Summary
D7. Establish the hand coordinate system
D8. Find the link and joint parameters : d,a,a,q
D-H transformation for adjacent coordinate
frames:
Example
Link Frame Assignments
Example
cq1 sq1 0 a0 cq1 sq1 0 0
sq ca cq1ca 0 sa 0 sa 0 d1 sq1 cq1 0 0
0
T 1 0
1
sq1sa 0 cq1sa 0 ca 0 ca 0 d1 0 0 1 0
0 0 0 1 0 0 0 1
cq 2 sq 2 0 L1 cq3 sq3 0 L2
sq cq 2 0 0 sq cq3 0 0
1
T 2 2
T 3
2
0 0 1 0
3
0 0 1 0
0 0 0 1 0 0 0 1
Example
c123 s123 0.0 l1c1 l2c12
s c 0.0 l s l s
0
T 123 123 1 1 2 12
.
3
0.0 0.0 1.0 0.0
0 0 0 1
The End
