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Ch2 Robotics

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0% found this document useful (0 votes)
30 views41 pages

Ch2 Robotics

Uploaded by

sewa kassie
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 2

ROBOT KINEMATICS
Coordinate transformation and rigid motions
Description of objects in space
◦ Needs six parameters
◦ 3 for rotation or orientation
◦ 3 for position
◦ For 3D space manipulation, 6DOF robot is required
◦ Most industrial robots are 5 or 6DOF
cont…
Rotations
◦ Given the coordinates of a point in frame o1uvw, which is rotated by
a given angle wrt frame o1xyz, find the coordinate of the vector in the
frame o2xyz.
2
P 1 R 2 P
 x.u x.v x.w 
1
R 2   y.u y.v y.w 
 z.u z.v z.w 

1R2 is referred to us rotation matrix. It is used to determine:


• The orientation of one coordinate frame with respect to the other
• to transform the coordinates of a point from one frame to another
cont…
E.g: Suppose the frame o1x1y1z1 is rotated through an angle θ about the
z0-axis, and it is desired to find the resulting transformation matrix R 10.

Rotation matrix
cont…

Þx1.x0= cosθ, x1.y0= sinθ, x1.z0= 0, y1.x0= -sinθ, y1.y0= cosθ, x1.z0= 0,
z1.x0= 0, z1.y0= 0, z1.z0= 1, then the rotation matrix will be:

This rotation matrix is called a basic rotation matrix about the z-axis,
usually denoted as Rz,θ instead of R10
Similarly we can have Rx,θ and Ry,θ respectively as:
cont…
Properties of basic rotation matrix Rz,θ
• Rz,0=I,
• Rz,θRz,φ = Rz,θ+φ
• (Rz,θ)-1 = Rz,−θ
• Composition of rotations: R20=R10R12

Euler angles: A common method of specifying a rotation matrix in terms of


three independent quantities (Euler angles: ϕ, θ, ψ).
The three
successive
rotations of Euler
angle
representation
cont…
R10 (or Rzyz) in terms of the basic rotation matrix:

The more important and the more difficult problem here is when the
Euler angles are required while the orientation matrix is given, which will
be discussed in the inverse kinematics section.
cont…
Translation
◦ Given coordinate (P1) of vector or point p in frame {1} which is
translated by a distance d from a fixed frame {0}, find its coordinate
(P0) in frame {0}:
◦ P0=P1+d10

Rigid motion: is a pure translation together with a pure rotation.


• For instance, if frame {1} is obtained from frame {0} by
first applying a rotation specified by R10 followed by a translation d10,
then the coordinates P0 are given by:
• P0= R10 P1+d10
• If we have two rigid motions, P0= R10 P1+d10 and P1= R21 P2+d12, then
Where, R20= R10 R21
• P = R1 R2 P + R1 d1 +d1 = R2 P +d2
0 0 1 2 0 2 0 0 2 0
d2 = R1 d1 +d1
0 0 2 0
cont…
Homogenous transformation
◦ Matrix representation of rigid motion
◦ Rigid motions can be represented by the set of matrices of the
form:

◦ Using the fact that R is orthogonal, the inverse transformation H


−1
is given by:
Where, n, s and a
represents the directions of
◦ The general notation of homogenous transformation matrix:
x1, y1 and z1 wrt o0
respectively
cont…

P2

y
z z

z
y o2
o0 y o1

x
x

x
Robot kinematics
Kinematics –study of motion with out regard to the force generating it
In robots
◦ Forward kinematics
◦ Deals with determination of position and orientation of end effector as a
function of joint positions
◦ Inverse kinematics
◦ Deals with determination of joint positions for a given end effector
position and orientation
With the ith joint, we associate a joint variable, denoted by q i. In the case of a
revolute joint, qi is the angle of rotation, and in the case of a prismatic joint, q i
is the joint displacement:
cont…
To describe position and orientation of a link in space, a coordinate
frame is attached to the link y

n k i
L i
Link i-1 x
Revolute

z Link i-1 Link i z

prismatic
Forward kinematics
Cont…

• The coordinates (x,y) of the tool


(end effector):
Cont…
Likewise, the orientation of the tool frame relative to the base frame is
given by:

The combined equations of the coordinates of the tool frame and the
orientation of the tool frame are called the forward kinematics of this arm.
For robots with six degree of freedom these equations will become more
complex and very difficult to determine by geometric approach.
Then we use more general method called Denavit-Hartenberg convention.
DH algorithm or notation
The definition of a manipulator with four parameters and the method of
assigning frames and axis is first proposed by Denavit-Hartenberg in
1955
Rules for frame assignment
1. Locate and label the joint axes z0,,,…zn −1
2. Establish the base frame. Set the origin anywhere on the z0-axis. The
x0 and y0 axes are chosen conveniently to form a right-handed frame.
3. Locate the origin oi where the common normal to zi and zi-1 intersects
zi. If zi intersects zi-1 locate oi at this intersection. If zi and zi-1 are parallel, locate oi
in any convenient position along zi.
4. Establish xi along the common normal between zi-1 and zi through
oi, or in the direction normal to the zi-1−zi plane if zi-1 and zi intersect.
5. Establish yi to complete a right-handed frame.
6. Establish the end-effector frame o nxnynzn. Zn along zn-1, yn along the direction of
the gripper closure, assign x n to complete the right hand rule
Cont…
7. Create a table of link parameters ai, di, αi, θi.
• Link length ai- distance measured along xi axis from the origin of frame
i to the point of intersection of xi axis with zi-1 axis
• Link twist αi – angle between zi-1 and zi axes measured about xi axis
• Joint distance di- distance measured along zi-1 axis from the origin of
frame i-1 to the point of intersection of xi axis with zi-1
• Joint angle θi – angle between xi-1 and xi axes measured about the zi-1
axis.
Cont…
8. Form a transformation matrix Ai :
Cont…
Important Notation:
•The positive sense for αi is determined from zi-1 to zi by the right-handed
rule.
•The positive sense for θi is determined from xi-1 to xi by the right-handed
rule
Cont…
Example 1: consider the following two link planar manipulator.

Frame assignment:
• The joint axes z0 and z1 are normal to
the page.
• O0 is chosen at the point of intersection
of the z0 axis with the page.
• The direction of x0 is chosen arbitrarily
and y0 to complete the RH rule.

Since z1 and z2 are parallel:


• O1 can be located any where along z1. let it is at the intersection of the z 1 axis with the
page. Choose x1 as the perpendicular line with z1 through o1, and y1 to complete the RH
rule.
• The end effector frame can be fixed in similar way as shown.
Cont…
DH parameter table:
•Row=No of degree of freedom=2; Column=No of DH parameters=4
a1 is the distance from o1 to the
i ai αi di θi intersection of z0 and x1 along x1
1 a1 0 0 θ1 * a2 is the distance from o2 to the
intersection of z1 and x2 along x2
2 a2 0 0 θ2 *
α1 is the angle b/n zo and z1 about x1
α2 is the angle b/n z1 and z2 about x2
d1 is the distance from o0 to the intersection of z0 and x1 along z0
d2 is the distance from o1 to the intersection of z1 and x2 along z1
θ1 is the angle b/n x0 and x1 about z0
θ1 is the angle b/n x1 and x2 about z1
Cont…
Transformation matrix:

End effector End effector


orientation position
Cont…
Example 2: consider the following three link cylindrical manipulator:
d3
• Frame 0 and 1 are assigned by
z3
o3 following similar procedure as in the
o2 z2
x2 y 2 x3 y3 previous example.
z1 • Since z2 and z1 intersect, the origin
o2 is placed at this intersection.
d2 o1 y1
• x2 is chosen as normal to z1-z2 plane,
x1
z0 which is out of the page.
y0 • o3 is assigned at the center of the
o0
x0 gripper and z3 is along z2 through o3.
• x3 and y3 are chosen in convenient
way to satisfy RH rule.
Cont…
 The DH parameters can be assigned as in the following table
i ai αi di θi  The transformation
matrices:
1 0 0 d1 θ1 *
2 0 -90 d 2* 0
3 0 0 d 2* 0
Cont…
 Example 3: The following spherical wrist configuration, in which the
three joint axis intersect:
z3 , x 5  The DH table
θ5 θ6 i
x4 ai αi di θi
z5
To the gripper 4 0 -90 0 θ 4*
z4
θ4 5 0 90 0 θ 5*
6 0 0 d6 θ 6*

 The transformation matrices:


Cont…
Inverse kinematics
Given
◦ Length of each link
◦ Position and orientation of end effector
Required
◦ Angle of each joint
The problem of the inverse kinematics is, in general, more difficult than the
forward kinematics problem.
For the inverse kinematic problem a solution may not be easy to find, nor is
there a unique solution in general.
For example:
• This figure shows multiple
inverse kinematic solutions
Cont…
Example 4: consider the following two link planar arm

y (x , y)

⍺2 2
c

α1

The advantage of this latter approach is that both the elbow-up and elbow down solutions are recovered
1
by choosing the positive and negative signs
x
Cont…
To determine  1, assign β and ϕ as shown from the figure below:

y (x , y)

⍺2 2
c

α1
β
ϕ
1
x
Cont…

• The joint angles can


be determined by
taking the top view
and the side view of
the manipulator
separately.
Cont…

Top view: Side view

d1

• The side view is similar with that of two


link planar manipulator, hence the
solution is analogous with the previous
planar manipulator:
Cont…
Cont…
Assumptions to determine the inverse kinematics of general manipulator
(most likely 6 DOF manipulator)
• The first three joints determine the position of the end effector
• The second three joints determine the orientation of the end-effector
• The manipulator have exactly three joints
• The second three joints make up the spherical wrist.
In other words,
• the three joints, (whose variables are already determined), of the
manipulator from Example 5 determines the end-effector position of the six
DOF manipulator.
• The orientation of the end effector can be determined by assuming that the
remaining three joints will make up a spherical wrist we discussed from
Example 3.
Cont…
We have deduced that the three joint angles of the spherical wrist are
analogous with the Euler angles. Therefore, the values of those joint angles can
be determined by using Euler angle solution:
Euler angle determination:
Given:

Then, determine a set of Euler angles Φ, θ, and ψ so that


R =Rzyz
Cont…

Or

and

and
Cont…
•Case 2: suppose that r13=r23=0 are zero. Then, sθ = 0, r31=r32=0 and r33 = ±1. thus R
has the form:

•If r33 = 1, then cθ = 1 and sθ = 0, so that θ = 0. then Rzyz becomes:

Thus the sum Φ + ψ can be determined as:


Cont…
•If r33 = -1, then cθ = -1 and sθ = 0, so that θ = π. then Rzyz becomes:

•The solution is thus:

•In both cases we will have infinitely many solutions Φ, ψ (since only the sum (Φ+ψ) and the difference (Φ-ψ) can
be determined). Thus by convention we will take Φ=0.
Cont…
Cont…
Example 6: consider the following articulated manipulator with spherical wrist
•The first three joints are analogous with the manipulator from example 5, while
the second three joints are analogous with spherical wrist seen in example 3.
Cont…

Where, R is the given end effector orientation


matrix

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