1.

The DenavitHartenberg parameters (also called DH parameters) are the four parameters
associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator. A commonl used convention for selecting frames of reference in robotics applications is the Denavit and Hartenberg (DH) convention which was introduced b !ac"ues Denavit and #ichard $. Hartenberg. %n this convention, coordinate frames are attached to the &oints between two links such that one transformation is associated with the &oint, '(), and the second is associated with the link '*).

+. Kinematics anal ,es the geometr of a manipulator, robot or machine motion. The essential
concept is a position.

Kinematics terminology: Link is the rigid part of the robot bod (e.g. forearm). Joint is a part of the robot bod which allows controlled or free relative motion of two links (connection element). End effector is the link of the manipulator which is used to hold the tools (gripper, spra gun, welding gun...). Base is the link of the manipulator which is usuall connected to the ground and is directl connected to the world coordinate s stem. Kinematic pair is a pair of links which relative motion is bounded b the &oint connecting them (e.g. base and shoulder connected b !1 a-is). .. Degrees of freedom (D/0) is a term used to describe a robot1s freedom of motion in three dimensional space2specificall , the abilit to move forward and backward, up and down, and to the left and to the right. 0or each degree of freedom, a &oint is re"uired. A robot re"uires sidegrees of freedom to be completel versatile. The number of degrees of freedom defines the robot1s configuration. The three degrees of freedom in the robot arm are the rotational traverse, the radial traverse, and the vertical traverse. The rotational traverse is movement on a vertical a-is. This is the side3to3side swivel of the robot1s arm on its base. The radial traverse is the e-tension and retraction of the arm, creating in3and3out motion relative to the base. The vertical traverse provides up3and3down motion. 0or applications that re"uire more freedom, additional degrees can be obtained from the wrist, which gives the end effector its fle-ibilit . The three degrees of freedom in the wrist have aeronautical names4 pitch, aw, and roll. The pitch, or bend, is the up3 and3down movement of the wrist. The yaw is the side3to3side movement, and the roll, or swivel, involves rotation. 5. The controller is the part of a robot that coordinates all movements of the mechanical s stem. %t also receives input from the immediate environment through various sensors. The heart of the

robot1s controller is generall a microprocessor linked to input6output and monitoring devices. The commands issued b the controller activate the motion control mechanism, consisting of various controllers, amplifiers, and actuators. An actuator is a motor or valve that converts power into robot movement. This movement is initiated b a series of instructions, called a program, stored in the controller1s memor . The controller has three levels of hierarchical control. Hierarchical control assigns levels of organi,ation to the controllers within a robotic s stem. 7ach level sends control signals to the level below and feedback signals to the level above. The levels become more elemental as the progress toward the actuator. 7ach level is dependent on the level above it for instructions.

The three levels are4 8evel %2Actuator 9ontrol. The most elementar level at which separate movements of the robot along various planes, such as the *, :, and ( a-es are controlled. 8evel %%2;ath 9ontrol. The path control (intermediate) level coordinates the separate movements along the planes determined in 8evel % into the desired tra&ector or path. 8evel %%%2<ain 9ontrol. The primar function of this highest control level is to interpret the written instructions from the human programmer regarding the tasks re"uired. The instructions are then combined with various environmental signals and translated b the controller into the more elementar instructions that 8evel %% can understand. =. orkspace: A volume of space which the end3effector of the manipulator can reach. De!tero"s #orkspace is the volume of space which the robot can reach with all orientations. That is, at each point in the de-terous workspace, the end3effector can be arbitraril oriented. The reac$able #orkspace is the volume of space which the robot can reach in at least one orientation

>. ?inematics 9ause of motion not considered.

D namics <otion of links of a robot due to e-ternal forces and6or moments. <ain assumption4 All links are rigid @ Ao deformation. <otion of links described b ordinar differential e"uations (/D7s), also called equations of motion. $everal methods to derive the e"uations of motion @ Aewton37uler, 8agrangian and ?ane1s methods. Aewton37uler @ /btain linear and angular velocities and accelerations of each link, free3bod diagrams, and Aewton1s law and 7uler e"uations. 8agrangian formulation @ /btain kinetic and potential energ of each link, obtain the scalar 8agrangian, and take partial and ordinar derivatives.

?ane1s formulation @ 9hoose generalised coordinates and speeds, obtain generalised active and inertia forces, and e"uate the active and inertia forces. 7uler @ 8agrange Approach4 @ Develops a B8agrangian 0unctionC which relates ?inetic and ;otential 7nerg of the manipulator, as it is moving, thus dealing with the manipulator BAs a DholeC in building force6tor"ue e"uations Aewton @ 7uler Approach4 @ This approach works to separate the effects of each link on machine tor"ues b writing down its motion in a separable linear and angular sense. However, due to the highl coupled motions in a robot, it re"uires a forward recursion through the entire manipulator for building velocit and acceleration models of a link followed b a backward recursion for force and tor"ue on each link Ein turn1 F. !A9/G%AA4 Gecause we control the robot in &oint space and tend to reason about motion in 9artesian space, we need to full understand the mapping from &oint space to 9artesian space and vice3versa. 0orward and inverse kinematics describes the static relationship between these spaces, but we must also understand the differential relationships. To do this, we will define a mapping between small (differential) changes in &oint space and how the create small (differential) changes in 9artesian space. The matri- which relates changes in &oint parameter velocities to 9artesian velocities is called the !acobian <atri-. This is a time3var ing, position dependent linear transform. %t has a number of columns e"ual to the number of degrees of freedom in &oint space, and a number of rows e"ual to the number of degrees of freedom in 9artesian space. H. ;ath planning4 determine a path in task space to move the robot to a goal position while avoiding collision with ob&ects in its workspace, without time considerations, that is, without considering velocities and accelerations. Tra&ector generation4 determine the time histor of the manipulator along a given path I. D namics4 D namics give the relationship between the robot1s position (and its derivatives) and forces. %nverse D namics J Kiven robots desired hand position, velocit and acceleration what are the re"uired &oint tor"ues 0orward D namics J Kiven the &oint tor"ue, what will the velocit of the end effector. 1L. The homogeneous transformation can be viewed as a position6orientation relationship of one frame relative to another frame called the reference frame.
n x n y H = n z 0 ox a x oy oz 0 ay az 0 Px Py Pz 1

Homogeneous transformation consists of three components4 #otational, orthogonal .-. sub3matri- which is comprised of columns of direction cosines used to orient the a-es of one frame relative to another. 9olumn vector in 5th column represents the origin of second frame relative to first frame, resolved in the first frame.

LMs in 5th row e-cept for 1 in 5,5 position.