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Robotics Unit-2 (2m)

This document discusses robot kinematics and related concepts. It defines forward and inverse kinematics, provides the rotation matrix for rotation about the Y axis, explains what a homogeneous transformation is and gives an example of using one to translate a vector. It also lists the types of robot kinematics, reasons for using homogeneous transformations, and describes the Denavit-Hartenberg (DH) formulation for representing robot kinematics using link parameters.

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Sri Suriya S
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63 views

Robotics Unit-2 (2m)

This document discusses robot kinematics and related concepts. It defines forward and inverse kinematics, provides the rotation matrix for rotation about the Y axis, explains what a homogeneous transformation is and gives an example of using one to translate a vector. It also lists the types of robot kinematics, reasons for using homogeneous transformations, and describes the Denavit-Hartenberg (DH) formulation for representing robot kinematics using link parameters.

Uploaded by

Sri Suriya S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotics

Unit-2

1. Differentiate forward and inverse kinematics.

2. Write the rotation matrix for rotation of a vector with respect to Y axis.

3. What do you mean by Homogenous transformation?

4. Determine the translated vector for the given vector v=25i+10j+20k,

perform a translation by 8 units in “X” direction, 5 units in “Y”

direction and 0 units in “Z” direction.

5. State the types of robot kinematics

6. State the reasons for homogenous transformation.

7. What is DH formulation?

—--------------------------

1. Differentiating Forward and Inverse Kinematics

Feature Forward Kinematics Inverse Kinematics

Purpose Calculates the end-effector Calculates the joint angles


position and orientation required to achieve a
given joint angles. desired end-effector
position and orientation.

Input Joint angles Desired end-effector


position and orientation
Feature Forward Kinematics Inverse Kinematics

Output End-effector position and Joint angles


orientation

Applications Simulation, animation, Robot control, motion


path planning planning, obstacle
avoidance

2. Rotation Matrix for Rotation about the Y-axis

The rotation matrix for rotation about the Y-axis by an angle θ is:

Ry(θ) = [cos(θ) 0 sin(θ) 0]


[ 0 1 0 0]
[-sin(θ) 0 cos(θ) 0]
[ 0 0 0 1]

3. Homogeneous Transformation

A homogeneous transformation is a 4x4 matrix that combines a translation and a rotation into a
single operation. It is used to represent the position and orientation of objects in 3D space. The
matrix has the form:

T = [R t]
[0 1]

where R is a 3x3 rotation matrix, t is a 3x1 translation vector, and 0 is a 1x3 row of zeros.

4. Translated Vector

To translate a vector v = 25i + 10j + 20k by 8 units in X, 5 units in Y, and 0 units in Z, we can use
the following homogeneous transformation matrix:

T = [1 0 0 8]
[0 1 0 5]
[0 0 1 0]
[0 0 0 1]
The translated vector is given by:

v' = T * v = [33 15 20 1]

5. Types of Robot Kinematics

● Differential Kinematics: Deals with the relationship between joint velocities and
end-effector velocities.
● Geometric Kinematics: Focuses on the position and orientation of the robot's links.
● Analytical Kinematics: Uses mathematical equations to describe the robot's motion.
● Numerical Kinematics: Employs numerical methods to solve kinematic problems.

6. Reasons for Homogeneous Transformation

● Compact Representation: Combines translation and rotation into a single matrix for
efficient calculations.
● Linearity: Homogeneous transformations can be easily composed and inverted.
● Compatibility with Projective Geometry: Used in computer graphics and vision for
perspective projection.

7. DH (Denavit-Hartenberg) Formulation

DH formulation is a systematic approach to representing the kinematics of robot manipulators


using a set of four parameters for each joint:

● d (link offset): Distance between two consecutive joint axes along the common normal.
● θ (joint angle): Angle of rotation about the joint axis.
● a (link length): Distance between two consecutive joint axes along the previous joint axis.
● α (link twist): Angle between two consecutive joint axes.

Image: [Insert image of DH parameters for a robot arm]

DH parameters define a coordinate frame for each link, allowing the calculation of
homogeneous transformation matrices between adjacent links. These matrices can then be
combined to determine the overall kinematics of the robot.

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