Lecture-8

Robotics(ME3102T)
D. K. Analysis-2

Dr. A. S. Rao

Technical Excellence Centre

Mechanical Engineering Department
VEERMATA JIJABAI TECHNOLOGICAL INSTITUTE
MUMBAI-400019
 Role of D-H Algorithm
Role of D-H Algorithm in Kinematics?
1) Systematic method of assigning right handed orthonormal
coordinate frames various links and joints of robot arm to
find out the 4n kinematic parameters.
2) Gives the link coordinate diagram or diagram of link
coordinates.
3) Consists of 2 pass.
4) Gives sets of kinematic parameters for each joint.
5) Makes use of matrix algebra to describe and to represent
the spatial geometry of the links w.r.t. base.
6) Helps in finding the positioning & orientation of robot w.r.t.
base.
 Role of D-H Algorithm…

7) Gives R and P of any robot joint w.r.t. any joint.

8) Gives relation between hand/tool coordinate frame and
base coordinate frame.
9) Very much useful in deriving the dynamic equations of
motion and kinematic equation of the robot arm.
10)Gives spatial relationship between two adjacent rigid
mechanical links.
11)Used to solve direct and inverse arm kinematic problem.
12)Used in trajectory planning and in robot control.
 Role of D-H Algorithm…

Limitation of D-H Algorithm:-

D H Algorithm does not give unique line coordinate
diagram. since in this upward and downward is not
specified it can be chosen accordingly.
Home Configuration:-
-Home configuration are values of joint variables at reset.
these values gives reference position for the robot control.
- Soft Home Position (SHP) are kept π/2 or multiple of it, for
easy purpose.
-Limit switches are required to bring the robot hand to home
configuration.
 D.K. Analysis of 3 Axis Planar
Articulated Robot
There are 3 joints all having revolute motion. All joints axes
are vertical. it is having 3DOF.
y1
x1 y2
SHOULDER P Roll2
x
Z1 up y3
a2 Z2 up
y0 a1 L1
x3
Tool z3 up
tip
BASE x0
z0 up L.C.D of 3 planar robot
J1
 D.K. Analysis of 3 Axis Planar Articulated Robot…

K.P. Table:-

Axis θK dK aK αK Home

1 θ1 0 a1 0 +600

2 θ2 0 a2 0 -600

3 θ3 d3 0 0 0

Arm Matrix T03 = T01 . T12 . T23

 D.K. Analysis of 3 Axis Planer Articulated Robot…

C1  S 1 0 a1C1 C 2  S 2 0 a 2C 2 
=  S 1 C1 0 a1S 1  S 2 C2 0 a 2 S 2 
 
0 0 1 0  0 0 1 0 
   
0 0 0 1  0 0 0 1 
C 3  S 3 0 0
 S 1 C1 0 0 

0 0 1 d 3
 
0 0 0 1
 D.K. Analysis of 3 Axis Planer Articulated Robot…

C123  S 123 0 a1C1  a 2C12

 S 123 C123 0 a1S 1  a 2 S 12 
= 
 0 0 1 d3 
 
 0 0 0 1 
 D.K. Analysis of 4 Axis SCARA Robot

SCARA Robot: It is four-axis horizontal jointed robot.

Examples:
 Adept One Robot

 IBM 7545 robot

 Intelledex 440 robot

 Rhino SCARA robot.

Note:
For illustration purpose we examine,
the Adept One robot shown in Figure, but method used is
applicable to SCARA robots in general
 Four - Axis SCARA Robot
(Adept One Robot)

D.K Analysis of 4 Axis SCARA Robot

( RRP+R)

-SCARA Robot is a 4 joint robot with 2

joints revolute and 1 prismatic joint and
roll tool orientation.

-It is having a 4 degree of freedom.

 D.K. Analysis of 4 Axis SCARA Robot…

Vertical
a1 θ2 a2 extension

x1
z2 x
2
y1 elbow y2 d3
z1 L2 θ4
L1 Tool
θ1 roll x3
y3
L3 z3 d4
z0 up y0 (slid) 4
pitch r2 y p
x0
J1 x4
BASE (nor)
L0 z4 (app)
yaw r1 roll r3
 D.K. Analysis of 4 Axis SCARA Robot…

K.P. table for SCARA Robot:-

Joint Axis θK dK aK αK Home
Base 1(R) θ1 d1 a1 ±π 0

Elbow 2(R) θ2 a2 0 0
0

V.E. 3(P) d3 0 0 100

q3 mm
Roll 4(R) θ4 d4 0 0 π/2

GLCTM:
TBASE TOOL = TBASE ELBW TELBW V.E. TV.E. TOOL ROLL TTL ROLL TOOLTIP
 D.K. Analysis of 4 Axis SCARA Robot…

T04= T01. T12. T23. T34

C1 S 1 0 a1C1 C 2  S 2 0 a 2C 2  1 0 0 0 C 4  S 4 0 0
 S 1  C1 0 a1S 1   S 2 C 2 0 a 2 S 2  0 1 0 0  S 4 C4 0 0 
   
=  0 0 1 d1   0 0 1 0  0 0 0 q 3 0 0 1 d 4
      
 0 0 0 1  0 0 0 1  0 0 0 1 0 0 0 1

C1C 2  S 1S 2  C1S 2  S 1C 2 0 a 2C1C 2  a 2 S 1S 2  a1C1 1 0 0 0

 S 1C 2  C1S 2  S 1S 2  C1C 2 0 a 2 S 1C 2  a 2C1S 2  a1S 1  0 1 0 0 
 
=  0 0 1 d1  0 0 0 q 3
  
 0 0 0 1  0 0 0 1
 D.K. Analysis of 4 Axis SCARA Robot…

C 4  S 4 0 0
S 4 C4 0 0 

0 0 1 d 4
 
0 0 0 1
C1C 2  S 1S 2 S 1C 2  C1S 2 0 a1C1  a 2(C1C 2  S 1S 2) 1 0 0 0
 S 1C 2  C1S 2  ( S 1S 2  C1C 2) 0 a1S 1  a 2( S 1C 2  C1S 2)  0 1 0 0 
=  
 0 0 1 d1  0 0 0 q 3
   
 0 0 0 1  0 0 0 1
C 4  S 4 0 0 
S 4 C4 0 0 
 
0 0 1 d 4
 
 0 0 0 1 
 D.K. Analysis of 4 Axis SCARA Robot…

 C1  2 S 1  2 0 a1C1  a 2C1  2  1 0 0 0 C 4  S 4 0 0
 S 1  2  C1  2 0 a1S 1  a 2 S 1  2  0 1 0 0  S 4 C4 0 0 
=   
 0 0 1 d1  0 0 0 q 3 0 0 1 d 4
     
 0 0 0 1  0 0 0 1 0 0 0 1

C1  2C 4  S 1  2 S 4 S 1  2C 4  C 1  2 S 4 0 a1C1  a 2C1  2 

 S 1  2C 4  C1  2 S 4  (C1  2C 4  S 1  2 S 4) 0 a1S 1  a 2 S 1  2 
= 
 0 0  1 d 1  q3  d 4 
 
 0 0 0 1 
 D.K. Analysis of 4 Axis SCARA Robot…

 C1  2  4 S 1  2  4 0 a1C1  a 2C1  2 
 S 1  2  4  C1  2  4 0 a1S 1  a 2 S 1  2 
=T04=Tbase Tool=  
 0 0 1 d 1  q3  d 4 
 
 0 0 0 1 

Q. Find tool configuration vector at home configuration for

SCARA Robot.
 C1  2  4 S 1  2  4 0 a1C1  a 2C1  2 
Tool  S 1  2  4  C1  2  4 0 a1S 1  a 2 S 1  2 
Tbase =  
 0 0 1 d 1  q3  d 4 
 
 0 0 0 1 
 D.K. Analysis of 4 Axis SCARA Robot…

Given: d=[877,0,d3,200]T mm
a=[425,375,0,0]T mm
q=[0,0,100,π/2]
 0 1 0 a1  a 2 
Tool
 1 0 0 0 
Tbase =  
 0 0  1 d 1  q3  d 4
 
 0 0 0 1 

Tool=
 0  1 0 800 
Tbase  1 0 0 0 
 
 0 0  1 577 
 
 0 0 0 1 
 D.K. Analysis of 5 Axis Articulated
RHINO XR-3 Robot Arm

D K Analysis Of Five Axis Articulated RHNO XR-3 Robot

Arm

- A Rhino-XR3 robot is 5 axis/DOF stationary robot arm having

base , shoulder, elbow , tool pitch ,tool roll , there is no tool
yaw.
- All five joints five axis (three major axes – Base , Shoulder,
Elbow and two minor axes – Pitch and Roll)
Five Axis Articulated Robot(Rhino XR-3)
 Features of Rhino XR-3 Robot

 Rhino XR-3 is an Educational Robot

 Base is Independently moving i.e. θ1

 Roll is also independently moving i.e. θ5

 Shoulder (θ2), Elbow(θ3) and Pitch(θ4) joints are coupled
together using chain mechanism, so θ2,θ3,θ4 are coupled
and in terms of θ1 and θ5 in arm equation.

 If substitute Link length, a4 =0 it will become Alpha II robot

(Industrial robot)
 LCD of a Rhino XR-3 robot arm
θ3 z3
x2
elbow z2 a4
a3 θ4 J5 x4
J3 L2 y2
J4 L3 x3 TOOL PITCH L4
L1 SHOULDER TOOLy 4
a2 z1 y3 θ5
θ2 ROLL z4 d5
J2
y1 x1 x4 (nor)
θ1 yaw r1
d1 z0 y0 L5

p
x0 y4 (slid)
J1 pitch r2
BASE
L0 z
(app)
4

roll r3
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

K P Table :-
Axis θ d a α Home
1 q1 d1 0 -π/2 0

2 q2 0 a2 0 -π/2

3 q3 0 a3 0 π/2

4 q4 0 a4 -π/2 0

5 q5 d5 0 0 -π/2
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

Arm Matrix:-
To find P and R of tool w.r.t. base
Tbase Tool (q)= TBase Shoul. TshoulElbow. TElbowTool pitch. TTool pitchTool roll
TTool rollTool tip

T05=[ T01. T12. T23 ][ T34 T45 ]

T03= T01. T12. T23

By using General Arm Matrix,
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

CK  SKCK SKSK aKCK 

K  SK CKCK  SKCK aKSK 
TK-1 = 
 0 SK C K dK 
 
 0 0 0 1 
C 1  S 1C 1 S 1S 1 a1C 1
T0 1 =  S 1 C 1C 1  S 1C 1 a1S 1 
 0 S 1 C 1 d1 
 
 0 0 0 1 

C 1 0  S 1 0
=  S 1 0 C 1 0 

 0 1 0 d 1
 
 0 0 0 1
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

C 2  S 2 0 a 2C  2 
T12 =  S 2 C 2 0 a 2 S 2 
 0 0 1 0 
 
 0 0 0 1 
C 3  S 3 0 a 3C 3
 S 3 C 3 0 a 3 S 3 
T23 =
 0 0 1 0 
 
 0 0 0 1 
C 1C 2C 3  C 1S 2 S 3  S 1 C 1( a 2C 2  a 3C 2C 3) 
 S 3C 2C 3 S 1S 2 S 3 C 1 S 1(a 2C 2  a 3C 2C 3) 
T03 = 
  S 2 S 3  C 2C 3 0 d 1  a 2 S 2  a 3 S 2 S 3 
 
 0 0 0 1 
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

Put q=[0,-π/2, π/2]T ={q1,q2,q3} T

1 0 0 a3 
T03 = 0 0 1 0 
 
0 1 0 d1  a 2
 
0 0 0 1 

This matrix T03 gives position and orientation of wrist (tool pitch)
coordinate frame w.r.t. base frame L0.
To find
T35 = T34 * T45
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

T35 = T34 * T45

T35 = C 4 0  S 4 a 4 C 4  C 5  S 5 0 0 

 S 4 0 C 4 a4 S 4   S
 5 C 5 0 0 
 0 1 0 0   0 0 1 d 5
   
 0 0 0 1   0 0 0 1 

 0 1 0 a4 
T35 =  
0 0 1 d5 
1 0 0 0
 
0 0 0 1
 D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

This matrix T35 gives position and orientation of tool coordinate

frame L5 w.r.t. wrist frame L3 .
Final arm matrix T05 :-

T05 = T03 . T35

= 1 0 0 a3  0 1 0 a4 
0 0 1 0  0 0 1 d5 
  
0 1 0 d1  a2  1 0 0 0
   
0 0 0 1  0 0 0 1
D.K. Analysis of 5 Axis Articulated RHINO XR-3 Robot Arm …

 0 1 0 a3  a4 
=
1 0 0 0 
 
0 0  1 d1  a2  d 5 
 
0 0 0 1 
D.K. Analysis of 5 Axis Articulated RHINO XR-3
Robot Arm …Final Resultant Matrix:
 Exercise Problem:
Perform D.K. Analysis of Five-Axis Alpha-II Robotic Arm …

Alpha-II Robotic arm:

 Exercise Problem:
Perform D.K. Analysis of Five-Axis Alpha-II Robotic Arm …

Alpha-II Robotic arm:

 Exercise Problem:
Perform D.K. Analysis of Five-Axis Alpha-II Robotic Arm …

Link Coordinates of Alpha-II Robotic arm:

 Exercise Problem:
Perform D.K. Analysis of Five-Axis Alpha-II Robotic Arm …

K P Table of Alpha-II Robotic arm: