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Cse5410 4

This document summarizes lecture 4 of a robotics and control course. It discusses forward kinematics, which is determining the position and orientation of every link in a robot given the joint angles. It introduces the Denavit-Hartenberg notation for defining coordinate frames on each link. Transformation matrices are derived to relate the coordinates of one frame to another using the link parameters. Examples are provided to demonstrate calculating the forward kinematics for different robot configurations.

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Rida ahmed
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44 views36 pages

Cse5410 4

This document summarizes lecture 4 of a robotics and control course. It discusses forward kinematics, which is determining the position and orientation of every link in a robot given the joint angles. It introduces the Denavit-Hartenberg notation for defining coordinate frames on each link. Transformation matrices are derived to relate the coordinates of one frame to another using the link parameters. Examples are provided to demonstrate calculating the forward kinematics for different robot configurations.

Uploaded by

Rida ahmed
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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California State University, San Bernardino

School of Computer Science and Engineering

CSE 5410 Robotics and

Control

Lecture. 4 (Chap. 5)

Fall, 2022
Instructor :
DuckJin Chung,Ph. D.

1
1) Introduction: Chap.1
- Robot Components
- Introduction to Robot’s Kinematics, Dynamics, and Control
2) Rotation Kinematics: Chap. 2
- Rotation about Global Cartesian Axes
- Rotation About Local Cartesian Axes
3) Motion Kinematics: Chap. 4
- Rigid Body Motion
- Homogeneous Transformation
4) Forward Kinematics: Chap. 5
- Denavit-Hartenberg Notation
-Transformation between Two Adjacent Coordinate Frames
5) Inverse Kinematics: Chap. 6
- Decoupling Technique
- Inverse Transformation
6) Path Planning: Chap. 13
- Cubic Path
2
--Polynomial path
Chapter 5. Forward Kinematics

- Having the joint variables of a robot, we are able to determine the


position and orientation of every link of the robot. We attach a
coordinate frame to every link and determine its configuration in the
neighbor frames using motion method. Such an analysis is called
forward kinematics

3
5.1. Denavit-Hartenberg Notation

1. The zi-axis is aligned with the i+1 joint axis


2. The xi-axis is defined along the common normal between the zi-1
and zi axies, pointing from the zi-1 to the zi-axis
3. The yi-axis is
determined by the
right-hand rule,
yi = zi*xi

4
5
5.1. Denavit-Hartenberg Notation

Ex. 135 3R planar maniplator(R||R||R)

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5.1. Denavit-Hartenberg Notation

Ex. 136 a 3R PUMA robot( )

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5.2. Transformation Between Two Adjacent Coordinate Frames

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5.2. Transformation Between Two Adjacent Coordinate Frames

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Therefore the transformation equation from coordinate frame Bi(xi, yi,
Zi) to its previous coordinate frame Bi-1(xi-1, yi-1, zi-1) , is

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Proof. 1

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Proof 1

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Proof 2

15
Proof 2

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Ex. 141 DH transformation matrices for 2r Planar manipulator

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Ex. 141 DH transformation matrices for 2r Planar manipulator

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Ex. 142 Link with R||R or R||P joint
( αi = 0 deg)

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Ex. 142 Link with R||R or R||P joint
( αi = 180 deg)

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Ex. 143 Link with R R or R P joint
( αi = 90 deg.)

21
Ex. 143 Link with R R or R P joint
( αi = -90 deg.)

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Ex. 144 Link with R R or R P joint
( αi = 90 deg. ai = 0)

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Ex. 144 Link with R R or R P joint
( αi = -90 deg. ai = 0)

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5.3. Forward Position Kinematics of Robots
Finding the end-effector position and orientation for a given set of joint
variables is the main problem in forward kinematics. For a six DOF robot,
six DH transformation matrices, one for each link, are required to
transform the final coordinates to the base coordinates. The last frame
attached to the final frame is usually set at the center of the gripper. The
position and orientation of the end-effector is also a unique function of
the joint variables.

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Ex. 154 3R planar manipulator forward kinematics

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Ex. 154 3R planar manipulator forward kinematics

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Ex. 154 3R planar manipulator forward kinematics

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Ex. 155 articulated arm forward kinematics

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Ex. 144 Link with R R or R P joint
( αi = -90 deg. ai = 0)

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Ex. 142 Link with R||R or R||P joint
( αi = 0 deg)

31
Ex. 144 Link with R R or R P joint
( αi = 90 deg. ai = 0)

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Ex. 156 An articulated arm kinematics

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Ex. 157 Working sp ace

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