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Robot Arm Kinematics

This document discusses robot kinematics and describes: 1) Forward and inverse kinematics - determining where the robot hand is given joint variables or calculating joint variables given a desired hand position. 2) Representing points, vectors, and frames in space using homogeneous transformation matrices. 3) Modeling rigid bodies by attaching frames to represent their position and orientation.

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Mohit Sanandiya
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42 views13 pages

Robot Arm Kinematics

This document discusses robot kinematics and describes: 1) Forward and inverse kinematics - determining where the robot hand is given joint variables or calculating joint variables given a desired hand position. 2) Representing points, vectors, and frames in space using homogeneous transformation matrices. 3) Modeling rigid bodies by attaching frames to represent their position and orientation.

Uploaded by

Mohit Sanandiya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robot Arms and kinematics

Introduction
INTRODUCTION

Forward Kinematics:
to determine where the robot’s hand is?
(If all joint variables are known)

Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
Direct Kinematics
with no matrices

Where is my hand?

Direct Kinematics:
HERE!
Direct Kinematics
• Position of tip in (x,y) coordinates
Kinematic Problems for
Manipulation
• Reliably position the tip - go from one position to another position

• Don’t hit anything, avoid obstacles

• Make smooth motions


– at reasonable speeds and
– at reasonable accelerations

• Adjust to changing conditions -


– i.e. when something is picked up respond to the change in weight
ROBOTS AS
MECHANISMs
Robot Kinematics:
ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 2.1 A one-degree-of-freedom Fig. 2.2 (a) Closed-loop versus (b)


closed-loop four-bar mechanism open-loop mechanism
Representation Chapter 2 of a Point in
RobotSpace
Kinematics: Position Analysis

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P  a x i  by j  c z k

Fig. 2.3 Representation of a point in space


Representation of
Chapter 2 a Vector in
Robot Space
Kinematics: Position Analysis

A Vector P in space :
3 coordinates of its tail and of its head

__ ^ ^ ^
P  a x i  by j  c z k
x
__  y
P 
z
 
 w
Fig. 2.4 Representation of a vector in space
Representation of a
Chapter 2 Frame at the
Origin of aRobot
Fixed-Reference
Kinematics: Position Analysis Frame

Each Unit Vector is mutually perpendicular. :


normal, orientation, approach vector

 nx ox a x 
F  n y o y a y 
 nz oz a z 

Fig. 2.5 Representation of a frame at the origin of the


reference frame
Representation of
Chapter 2 a Frame in a
Fixed Reference
Robot Kinematics: PositionFrame
Analysis

Each Unit Vector is mutually perpendicular. :


normal, orientation, approach vector

The
same as
last slide

 nx ox a x Px 
n o y a y Py 
F  y

 nz oz a z Pz 
 
0 0 0 1

Fig. 2.6 Representation of a


frame in a frame
Representation of a 2Rigid Body
Chapter
Robot Kinematics: Position Analysis

An object can be represented in space by attaching a frame


to it and representing the frame in space.

 nx ox a x Px 
n o y a y Py 
Fobject   y

 nz oz a z Pz 
 
0 0 0 1

Fig. 2.8 Representation of an


object in space
HOMOGENEOUS
Chapter 2
TRANSFORMATION MATRICES
Robot Kinematics: Position Analysis

A transformation matrices must be in square form.

• It is much easier to calculate the inverse of square


matrices.

• To multiply two matrices, their dimensions must match.


 nx ox a x Px 
n o y a y Py 
F  y

 nz oz a z Pz 
 
0 0 0 1

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