Ch2 Robotics
Ch2 Robotics
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
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
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
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
prismatic
Forward kinematics
Cont…
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.
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…
d1
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:
•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…