www.monash.edu.

my
TRC4800 Robotics: Direct Kinematics
Dr. S. Parasuraman
School of Engineering,
Monash University Sunway Campus
Email: [email protected]
TEL: +603 55146254 Ext: 46254
www.monash.edu.my
2
Objectives
To describe link
To describe link- connection
Affixing frames to links
To solve Manipulator Kinematics problem with
prismatic and Revolute Joints using DH
notation.
Examples

www.monash.edu.my
3
Direct Kinematics
Where is my hand?
Direct Kinematics:
HERE!
www.monash.edu.my
4
Kinematics of Manipulators
Objective:
To drive a method to compute the position and
orientation of the manipulators end-effector
relative to the base of the manipulator as a
function of the joint variables.
www.monash.edu.my
5
Robot Links and Joints
In open kinematics chains (i.e. Industrial Manipulators):
{No of D.O.F. = No of Joints}
A manipulator may be thought of as a set of
bodies (links) connected in a chain by joints.
www.monash.edu.my
6
The Six Possible Lower Pair
Joints
www.monash.edu.my
7
Robot Joints
Spherical Joint
3 DOF ( Variables - Y
1
, Y
2
, Y
3
)
Revolute Joint
1 DOF ( Variable - Y)
Prismatic Joint
1 DOF (linear) (Variables - d)
www.monash.edu.my
8
Robot Specifications
Number of axes
Major axes, (1-3) => position the wrist
Minor axes, (4-6) => orient the tool
Redundant, (7-n) => reaching around
obstacles, avoiding undesirable
configuration
www.monash.edu.my
9
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 with n-1 links.
www.monash.edu.my
10
Link
A link is considered as a rigid body which defines the relationship between two
neighboring joint axes of a manipulator.
Link n
u
n+1

a
n

u
n

Joint n+1
Joint n
z
n

x
n

x
n+1

z
n+1

x
n

z
n

www.monash.edu.my
11
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 o
www.monash.edu.my
12
Link Length (a)
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.
www.monash.edu.my
13
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
Axis i
Axis i-1
o
i-1

www.monash.edu.my
14
Link Length and Twist
Axis
i
Axis
i-1
o
i-1

www.monash.edu.my
15
Joint Parameters
A joint axis is established at the connection of two links. This joint will
have two normals connected to it one for each of the links.
The relative position of two links is called link offset d
n
which is the
distance between the links (the displacement, along the joint axes between
the links).
The joint angle u
n
between the normals is measured in a plane normal to
the joint axis.
www.monash.edu.my
16
Link and Joint Parameters
4 parameters are associated with each link. You can align the
two axis using these parameters.

Link parameters:
a
i-1

the length of the link.
o
i-1


the twist angle between the joint axes.

Joint parameters:
u
n
the angle between the joints.
d
n
the distance between the joints
www.monash.edu.my
17
Link Connection Description:

For Revolute Joints: a, o, and d.
are all fixed, then u
i
is the Joint Variable.






For Prismatic Joints: a, o, and u.
are all fixed, then d
i
is the.
Joint Variable.
These four parameters: (Link-Length a
i-1
), (Link-Twist o
i-1
(, (Link-Offset d
i
), (Joint-Angle u
i
) are
known as the Denavit-Hartenberg Link Parameters.
www.monash.edu.my
18
A 3-DOF Manipulator Arm
0
1
2
3
Links Numbering Convention


Base of the arm: Link-0
1
st
moving link: Link-1
.
.
.
.
.
.
Last moving link Link-n
Link 0
Link 1
Link 2
Link 3
www.monash.edu.my
19
First and Last Links in the Chain
a
0=
o
n=0.0

o
0=
o
n=0.0

If joint 1 is revolute: d
0=
0 and u
1
is arbitrary

If joint 1 is prismatic: d
0=
arbitrary and u
1 =
0

www.monash.edu.my
20
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.

www.monash.edu.my
21
Link n-1
Link n
z
n-1

y
n-1

x
n-1

z
n

x
n

y
n

z
n+1

x
n+1

y
n+1

d
n

o
n

Joint n+1
a
n

Joint n-1
Joint n
a
n-1

Affixing Frames to Links
www.monash.edu.my
22
Affixing Frames to Links
Note: assign link frames so as to cause as many link parameters as possible
to become zero!

The reference vector z of a link-frame is always on a joint axis.

The parameter d
i
is algebraic and may be negative. It is constant if joint i is
revolute and variable when joint i is prismatic.

The parameter a
i
is always constant and positive.
a
i
is always chosen positive with the smallest possible magnitude.
www.monash.edu.my
23
The robot can now be kinematically modeled by using
the link transforms ie:


Where
0
n
T is the pose of the end-effector relative to base;
T
i
is the link transform for the i
th
joint;
and
n is the number of links.
The Kinematics Model
n i n
T T T T T T
3 2 1
0
=
www.monash.edu.my
24
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 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
www.monash.edu.my
25
Denavit-Hartenberg Parameters
Axis i-1
o
i-1

Axis i
d
i
u
i

www.monash.edu.my
26
The Link Parameters
a
i
= the distance from z
i
to z
i+1.

measured along x
i.


o
i
= the angle between z
i
and z
i+1.

measured about x
i.

d
i
= the distance from x
i-1
to x
i.

measured along z
i.

u
i
= the angle between x
i-1
to x
i.

measured about z
i

www.monash.edu.my
27
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 ,
A translation along the new x axis by a, and.
A rotation about the new x axis by .
www.monash.edu.my
28
DH Parameters (RRR): Example
.
www.monash.edu.my
29
DH Parameters (RRR): Example
,
www.monash.edu.my
30
DH Parameters (RRR): Example
,
www.monash.edu.my
31
DH Parameters (RRR): Example

,
www.monash.edu.my
32
DH Parameters (RRR): Example

,
www.monash.edu.my
33
DH Parameters (RRR): Example

Assign the Yi axis to the complete a right hand coordinate
system
www.monash.edu.my
34
DH Parameters (RRR): Example
,
www.monash.edu.my
35
DH Parameters (RRR): Example
,
a
i
= the distance from z
i
to z
i+1.

measured along x
i.

i
= the angle between z
i
and z
i+1.

measured about x
i.

d
i
= the distance from x
i-1
to x
i.

measured along z
i.

i
= the angle between x
i-1
to x
i.

measured about z
i

www.monash.edu.my
36
A General Transformation in D-H
Convention
D-H transformation for adjacent coordinate frames:

4 4
1

= I T T T T
, x a , x d , z , z
i
i T
o u
www.monash.edu.my
37
Example (3.3):
Link Frame Assignments
www.monash.edu.my
38
Example (3.3):
(
(
(
(

=
(
(
(
(

=
(
(
(
(

=
(
(
(
(

=
1 0 0 0
0 1 0 0
0 0
0
1 0 0 0
0 1 0 0
0 0
0
1 0 0 0
0 1 0 0
0 0
0 0
1 0 0 0
0
3 3
2 3 3
2
3
2 2
1 2 2
1
2
1 1
1 1
1 0 0 0 1 0 1
1 0 0 0 1 0 1
0 1 1
0
1
u u
u u
u u
u u
u u
u u
o o o u o u
o o o u o u
u u
c s
L s c
T
c s
L s c
T
c s
s c
d c c s c s s
d s s c c c s
a s c
T
www.monash.edu.my
39
Example (3.3):
.
1 0 0 0
0 . 0 0 . 1 0 . 0 0 . 0
0 . 0
0 . 0
12 2 1 1 123 123
12 2 1 1 123 123
0
3
(
(
(
(

+
+
= =
s l s l c s
c l c l s c
T T
B
W
www.monash.edu.my
40
Example (1)
Joint i oi
ai di ui
1 0 a0 0 u0
2 -90 a1 0 u1
3 0 0 d2 u2

a
0
a
1

Z
0

X
0

Y
0

Z
3

X
2

Y
1

X
1

Y
2

d
2

Z
1

X
3

3
O
2
O
1
O
0
O
Joint 1
Joint 2
Joint 3
a
i
= the distance from z
i
to z
i+1.

measured along x
i.

i
= the angle between z
i
and z
i+1.

measured about x
i.

d
i
= the distance from x
i-1
to x
i.

measured along z
i.

i
= the angle between x
i-1
to x
i.

measured about z
i

www.monash.edu.my
41
Example
) )( )( (
2
3
1
2
0
1
0
3
T T T T =
(
(
(
(

1 0 0 0
0
1
i i i
i i i i i i i
i i i i i i i
i
i
d C S
S a C S C C S
C a S S S C C
T
o o
u u o u o u
u u o u o u
www.monash.edu.my
42
Example
Joint i
o
i
a
i
d
i

u
i
1 0 a
0
0
u
0

2 -90 a
1
0
u
1

3 0 0 d
2

u
2


(
(
(
(

=
1 0 0 0
0 1 0 0
0 cos sin
0 sin cos
0 0
0 0
0
0 0
0 0
1
sin
cos
u
u
a
a
T
(
(
(
(

=
1 0 0 0
0 0 0
sin
cos
1
1
1
1
sin cos 0
cos sin 0
1 1 1
1 1 1
2
u u
u u
a
a
T
(
(
(
(

=
1 0 0 0
0 sin cos
2 2
2
2
2 2 3
1 0 0
0 0 cos sin
0
d
T
u u
www.monash.edu.my
43
Example(2):SCARA Robot
www.monash.edu.my
44
The location of the sliding axis Z2 is arbitrary, since
it is a free vector. For simplicity, we make it
coincident with Z3 . thus o2 and d2 are arbitrarily
set.
The placement of O3 and X3 along Z3 is arbitrary,
since Z2 and Z3 are coincident. Once we choose O3,
however, then the joint displacement d3 is defined.
We have also placed the end link frame in a
convenient manner, with the Z4 axis coincident with
the Z3 axis and the origin O4 displaced down into the
gripper by d4.

Example:SCARA Robot
www.monash.edu.my
45
Example(4): Puma 560
www.monash.edu.my
46
Example: Puma 560
www.monash.edu.my
47
Forearm of a PUMA
a
3
x
5
y
5
x
6
z
6
x
3
y
3
x
4
z
4
d
4
Spherical joint
www.monash.edu.my
48
Example: Puma 560
Different Configuration
www.monash.edu.my
49
Example: Puma 560
www.monash.edu.my
50
Example: Puma 560
www.monash.edu.my
51
Examples (5) RRR
z2
z1
X1, x2
www.monash.edu.my
52
RRR Manipulator
www.monash.edu.my
53
RRR Manipulator
www.monash.edu.my
54
Example(6) RRP
z1
x1
y1
www.monash.edu.my
55
RRP
www.monash.edu.my
56
Example (7)RRR Manipulator
www.monash.edu.my
57
RRR
www.monash.edu.my
58
Example (7) RPP Manipulator
www.monash.edu.my
59
RPP
www.monash.edu.my
60
Example (8) PRR Manipulator
www.monash.edu.my
61
PRR
www.monash.edu.my
62
Example(9) PPP Manipulator
www.monash.edu.my
63
PPP
www.monash.edu.my
64
Space Robot
www.monash.edu.my
65
Summary
We have studied the DH Notation and learned how to
assign them onto a manipulator

We use the transformation matrices and derived from
the DH notations to solve the direct kinematics problem
www.monash.edu.my
Next
Inverse Kinematics