Robot Manipulator Kinematics

By:

Mr. Naveen Kumar S N

Assistant Professor
Department of Mechatronics Engineering
Acharya Institute of Technology

Department of MTE Naveen Kumar S N

 Position of an object

• Position Y

• Orientation

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 Robot Manipulator

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 Robot Position Representation

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 Absolute and Relative Co ordinate system

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 Forward Kinematics and Inverse Kinematics

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 Forward Kinematics

𝑥1
Cos θ1 = 𝑥1 = 𝐿1Cos θ1
𝐿1

RR Robot manipulator

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Department of MTE Naveen Kumar S N
 Forward Kinematics

𝑥1
Cos θ1 = 𝑥1 = 𝐿1Cos θ1
𝐿1

𝑥2
Cos (θ1 + θ2) = 𝑥2 = 𝐿2Cos (θ1 + θ2)
𝐿2

𝑥 = 𝑥1 + 𝑥2

𝑥 = 𝐿1Cos θ1 + 𝐿2Cos (θ1 + θ2)

RR Robot manipulator

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 Forward Kinematics

𝑦1
sin θ1 = 𝑦1 = 𝐿1sin θ1
𝐿1

𝑦2
sin (θ1 + θ2) = 𝑦2 = 𝐿2sin (θ1 + θ2)
𝐿2

RR Robot manipulator

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Department of MTE Naveen Kumar S N
 Forward Kinematics

𝑦1
sin θ1 = 𝑦1 = 𝐿1sin θ1
𝐿1

𝑦2
sin (θ1 + θ2) = 𝑦2 = 𝐿2sin (θ1 + θ2)
𝐿2

𝑦 = 𝑦1 + 𝑦2

𝑦 = 𝐿1sin θ1 + 𝐿2sin (θ1 + θ2)

RR Robot manipulator

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Department of MTE Naveen Kumar S N
 Forward Kinematics

𝑥 = 𝐿1cos θ1 + 𝐿2cos (θ1 + θ2)

𝑦 = 𝐿1sin θ1 + 𝐿2sin (θ1 + θ2)

RR Robot manipulator

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 Inverse Kinematics
𝑥 = 𝐿1cos θ1 + 𝐿2cos (θ1 + θ2)

𝑦 = 𝐿1sin θ1 + 𝐿2sin (θ1 + θ2)

𝑥 = 𝐿1cos θ1 + 𝐿2cos θ1cosθ2- 𝐿2sin θ1 sin θ2

𝑦 = 𝐿1sin θ1 + 𝐿2sin θ1cosθ2 + 𝐿2cos θ1 sin θ2

Squaring and adding both the equations

𝑥2 + 𝑦2 = 𝐿1cos θ1 + 𝐿2cos θ1cosθ2− 𝐿2sin θ1 sin θ2 2 + 𝐿1sin θ1 + 𝐿2sin θ1cosθ2 + 𝐿2cos θ1 sin θ2 2

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 Inverse Kinematics
Squaring and adding both the equations

𝑥2 + 𝑦2 = 𝐿1cosθ1 + 𝐿2cosθ1cosθ2− 𝐿2sin θ1 sin θ2 2 + 𝐿1sin θ1 + 𝐿2sin θ1cosθ2 + 𝐿2cos θ1 sin θ2 2

(a + b + c)2 = a2 + b2 + c2 + 2ab + 2bc + 2ca

𝑥2 + 𝑦2 = 𝐿12cos2θ1 + 𝐿22cos2θ1cos2θ2 + 𝐿22sin2θ1 sin2θ2 + 2𝐿1𝐿2cos2θ1cosθ2 − 2𝐿22cosθ1cosθ2sin θ1 sin θ2 − 2𝐿1𝐿2sin θ1 sin θ2cosθ1
𝐿12sin2θ1+𝐿22sin2θ1cos2θ2 + 𝐿22cos2θ1 sin2θ2 + 2𝐿1𝐿2sin2θ1cosθ2 + 2𝐿22sin θ1cosθ2cos θ1 sin θ2 + 2𝐿1𝐿2cos θ1 sin θ21sin θ1

𝑥2 + 𝑦2 = 𝐿12(cos2θ1 + sin2θ1)+ 𝐿221cos2θ2 cos2θ1 + sin2θ1 + 𝐿22sin2θ2(sin2θ1 + cos2θ1)+2𝐿1𝐿2cosθ2(cos2θ1 + sin2θ1)

𝑥2 + 𝑦2 = 𝐿12+ 𝐿221cos2θ2 + 𝐿22sin2θ2+2𝐿1𝐿2cosθ2

𝑥2 + 𝑦2 = 𝐿12+ 𝐿221(cos2θ2 + sin2θ2)+2𝐿1𝐿2cosθ2

𝑥2 + 𝑦2 = 𝐿12+ 𝐿221+2𝐿1𝐿2cosθ2

𝑥2 + 𝑦2 − 𝐿12 − 𝐿22
cos θ2 =
2𝐿1𝐿2
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Department of MTE Naveen Kumar S N
 Inverse Kinematics

𝐿2sin θ2
𝑡𝑎𝑛⍺ = 𝐿 cos
2
θ +𝐿
2 1

𝑦
𝑡𝑎𝑛𝛽 = 𝑥

𝑡𝑎𝑛θ1 = tan(𝛽 − α)

tan 𝐴 − tan 𝐵
tan 𝐴 − 𝐵 =
1 + tan 𝐴 tan 𝐵

RR Robot manipulator
[𝑦 𝐿1 + 𝐿2𝑐𝑜𝑠θ2 − 𝑥𝐿2𝑠𝑖𝑛θ2]
𝑡𝑎𝑛θ1 = tan 𝛽 − α =
[𝑥 𝐿1 + 𝐿2𝑐𝑜𝑠θ2 − 𝑦𝐿2𝑠𝑖𝑛θ2]

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Department of MTE Naveen Kumar S N
 Forward Kinematics for RR Inverse Kinematics for RR
manipulator manipulator

𝑥2 + 𝑦2 − 𝐿12 − 𝐿22
cos θ2 =
𝑥 = 𝐿1cos θ1 + 𝐿2cos (θ1 + θ2) 2𝐿1𝐿2

𝑦 = 𝐿1sin θ1 + 𝐿2sin (θ1 + θ2) [𝑦 𝐿1 + 𝐿2𝑐𝑜𝑠θ2 − 𝑥𝐿2𝑠𝑖𝑛θ2]

𝑡𝑎𝑛θ1 =
[𝑥 𝐿1 + 𝐿2𝑐𝑜𝑠θ2 − 𝑦𝐿2𝑠𝑖𝑛θ2]

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 2D kinematics for 3 DOF RRR manipulator

𝑥 = 𝐿1cos θ1 + 𝐿2cos (θ1 + θ2)+𝐿3cos(θ1 + θ2 + θ3)

𝑦 = 𝐿1sin θ1 + 𝐿2sin (θ1 + θ2)+𝐿3sin(θ1 + θ2 + θ3)

Ψ = (θ1 + θ2 + θ3)

RRR Robot manipulator

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Department of MTE Naveen Kumar S N
 3D kinematics for 4 DOF TRL manipulator

𝑥 = cos θ (𝐿 cos Φ + 𝐿4 cos Ψ)

𝑦 = sin θ (𝐿 cos Φ + 𝐿4 cos Ψ)

𝑧 = 𝐿1 + 𝐿 𝑠𝑖𝑛 Φ + 𝐿4 sin Ψ

RLR Robot manipulator

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Department of MTE Naveen Kumar S N
 Representation of an object in 3D Space
P(X Y Z)u
P(X Y Z)B

B(X Y Z)u

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 Representation of position in 3D Space

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 Representation of orientation in 3D Space

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 Frame

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 Translation of a Frame

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 Rotation of a Frame

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Department of MTE Naveen Kumar S N
 Translation and Rotation of a Frame

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 Transformation Matrix

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 Homogeneous Transformation Matrix

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 Determination of Rotational Matrix
Rotation of angle θ about z axis in anticlockwise direction

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Department of MTE Naveen Kumar S N
 Determination of Rotational Matrix

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Department of MTE Naveen Kumar S N
 Determination of Rotational Matrix

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 Determination of Rotational Matrix
Similarly for X and Y axis

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 Problem-1

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 Problem-2

5i-8j+3k
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Department of MTE Naveen Kumar S N
 Problem-2
A vector v=3i+2j+7k is rotated by 60° about z axis of reference
frame. It is then again rotated by 30° about the x axes of the
rotated frame. Find rotation transfom1ation.

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 Problem-2
A vector v=3i+2j+7k is
rotated by 60° about z
axis of reference frame. It
is then again rotated by
30° about the x axes of the
rotated frame. Find
rotation transfom1ation.

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Department of MTE Naveen Kumar S N
 Problem-2
A vector v=3i+2j+7k is
rotated by 60° about z
axis of reference frame. It
is then again rotated by
30° about the x axes of the
rotated frame. Find
rotation transfom1ation.

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Department of MTE Naveen Kumar S N
 Problem-3

Robots home position is represented by a vector v=2i+Sj+ 3k is translated to a

distance of 3, 4 and 5 respectively along x, y and z axis respectively and rotated
to an angle of 30° about y axes. Determine the vector for new position and
orientation.

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Department of MTE Naveen Kumar S N
 Problem-3

Robots home position is represented by a vector v=2i+Sj+ 3k is translated to a

distance of 3, 4 and 5 respectively along x, y and z axis respectively and rotated
to an angle of 30° about y axes. Determine the vector for new position and
orientation.

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Department of MTE Naveen Kumar S N
 Problem-4

For the vector v=25i+10j+ 20k is translated to a distance of 8 in x axis, 5 along y

and 0 along z axis Find the Translated Vector.

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Department of MTE Naveen Kumar S N
 Problem-4
For the vector v=25i+10j+ 20k is translated to a distance of 8 in x axis, 5 along y
and 0 along z axis Find the Translated Vector.

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Department of MTE Naveen Kumar S N
 Problem-5
For the vector v=3i+7j+ 5k Perform the following operation.

a) Rotate 30⁰ about X axis

b) Rotate 45⁰ about Y axis
c) Rotate 30⁰ about X axis and Translate 6 along Y axis

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Department of MTE Naveen Kumar S N
 Problem-5
For the vector v=3i+7j+ 5k Perform the following operation.

a) Rotate 30⁰ about X axis

b) Rotate 45⁰ about Y axis
c) Rotate 30⁰ about X axis and Translate 6 along Y axis

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Department of MTE Naveen Kumar S N
 Problem-5
For the vector v=3i+7j+ 5k Perform the following operation.

a) Rotate 30⁰ about X axis

b) Rotate 45⁰ about Y axis
c) Rotate 30⁰ about X axis and Translate 6 along Y axis

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 D H Convention

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Department of MTE Naveen Kumar S N
 D H Convention

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Department of MTE Naveen Kumar S N
 D H Convention

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Department of MTE Naveen Kumar S N
 D-H Convention

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Department of MTE Naveen Kumar S N
THANK YOU

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