UNIT-2 KINEMATICS, DIFFERENTIAL MOTIONS AND VELOCITIES OF ROBOT

FORWARD AND INVERSE KINEMATICS OF ROBOTS:

Forward Kinematics:
Definition: Determines end-effector pose based on joint angles or parameters.
Application: Essential for controlling robot movements and locating the end-effector in the
workspace.

Inverse Kinematics:
Definition: Determines joint angles or parameters to achieve a desired end-effector pose.
Application: Crucial for trajectory planning, motion control, and programming the robot to
reach specific positions and orientations.

Example:
Consider a 2D planar robot with two revolute joints. Forward kinematics calculates end-
effector position, while inverse kinematics finds joint angles for a given position.

Methods:
Analytical Methods: Algebraic solutions, complex for some robots.
Numerical Methods: Iterative techniques like Newton-Raphson or optimization algorithms.
Geometric Methods: Use geometric relationships for problem-solving, especially for simpler
structures.
Forward Kinematics and Inverse Kinematics equation for position analysis:
a) Cartesian (gantry, rectangular) coordinates.
b) Cylindrical coordinates.
c) Spherical coordinates.
d) Articulated (anthropomorphic, or all-revolute) coordinates

Forward and Inverse Kinematics Equations for Position:

Forward and Inverse Kinematics Equations for Orientation

Roll, Pitch, Yaw (RPY) angles

 Euler angles

 Articulated joints
Roll, Pitch, Yaw (RPY) Angles

 Roll: Rotation of about - axis (z-axis of the moving frame)

 Pitch: Rotation of about - axis (y-axis of the moving frame)
 Yaw: Rotation of about - axis (x-axis of the moving frame)
 (b) Euler Angles

 Rotation of about - axis (z-axis of the moving frame) followed by

 Rotation of about -axis (y-axis of the moving frame) followed by
 Rotation of about -axis (z-axis of the moving frame)

DENAVIT-HARTENBERG REPRESENTATION:

The Denavit-Hartenberg (DH) representation is a systematic and widely used method

for modeling and describing the geometry of robotic manipulator systems. It provides a
standardized way to represent the kinematic chain of a robot using a set of parameters. The
DH representation simplifies the process of defining the coordinate systems and relationships
between consecutive joints in a robotic arm.
DENAVIT-HARTENBERG REPRESENTATION OF FORWARD KINEMATIC EQUATIONS OF ROBOT:
1. Simple way of modelling robot links and joints for any robot configuration, regardless of its sequence or
complexity.
2. Transformations in any coordinates are possible.
3. Any possible combinations of joints and links and all-revolute articulated robots can be represented.

DENAVIT-HARTENBERG REPRESENTATION PROCEDURES:

Start point:

 Assign joint number n to the first shown joint.

 Assign a local reference frame for each and every joint before or after these joints.
 Y-axis does not used in D-H representation. Procedures for assigning a local reference frame to each joint:
All joints are represented by a z-axis. (Right-hand rule for rotational joint, linear movement for prismatic joint)

 The common normal is one line mutually perpendicular to any two skew lines.
 Parallel z-axes joints make a infinite number of common normal.
 Intersecting z-axes of two successive joints make no common normal between them(Length is 0.).

Symbol Terminologies:
 : A rotation about the z-axis.

 d : The distance on the z-axis.

 a : The length of each common normal (Joint offset).

 : The angle between two successive z-axes (Joint twist)

Only and d are joint variables
The necessary motions to transform from one reference frame to the next.

 Rotate about the zn-axis an able of n+1. (Coplanar)

 Translate along zn-axis a distance of dn+1 to make xn and xn+1 colinear.
 Translate along the xn-axis a distance of an+1 to bring the origins of xn+1 together.
 Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis with zn+1-axis. Determine the value
of each joint to place the arm at a desired position and orientation.

DEGENERACY AND DEXTERITY:

Degeneracy: The robot loses a degree of freedom and thus cannot perform as desired.

 When the robot’s joints reach their physical limits, and as a result, cannot move any further.

 In the middle point of its workspace if the z-axes of two similar joints becomes co-linear.
Dexterity: The volume of points where one can position the robot as desired, but not orientate it.
THE INVERSE KINEMATIC SOLUTION OF ROBOT:

NVERSE KINEMATIC PROGRAM OF ROBOTS:

A robot has a predictable path on a straight line, or an unpredictable path on a straight line.

 A predictable path is necessary to recalculate joint variables. (Between 50 to 200 times a second)

 To make the robot follow a straight line, it is necessary to break the line into many small sections.

 All unnecessary computations should be eliminated.

 Differential Motion and Velocities

Introduction

In robotics, understanding differential motion and velocities is crucial for analyzing and controlling robot
movement. These concepts are particularly important for multi-jointed robots where individual joints (like
the elbow and shoulder of a robot arm) contribute to the overall motion of the end effector (the "hand" of the
robot).
Differential motion refers to the infinitesimal (very small) changes in the positions and orientations of
rigid bodies (like robot links) relative to a reference frame (often the base of the robot) over a tiny period of
time. These small changes are used to approximate and analyze the continuous motion of the robot.
Differential velocities are the rates of change of these differential motions. They represent the
instantaneous speeds and directions of the points on the robot links at a specific moment in time.

Differential Relationship

The key concept in this area is the differential relationship. This relationship describes how the
differential motions of individual joints (represented by their joint velocities) relate to the differential
velocities of the end effector (its linear and angular velocities).
This relationship is often expressed using a mathematical tool called the Jacobian. The Jacobian is a matrix
that maps the joint velocities of the robot to the end effector's linear and angular velocities. It essentially
tells us how much each joint's movement contributes to the overall motion of the end effector.

Here's a simplified representation:

Joint Velocities (θ̇₁, θ̇₂, ...) → Jacobian (J) → End Effector Velocities (v, ω)

where:

 θ̇₁, θ̇₂, ... are the joint velocities of the robot (rates of change of joint angles)
 J is the Jacobian matrix
 v is the linear velocity of the end effector
 ω is the angular velocity of the end effector

Understanding the differential relationship allows us to:

  Control the end effector's motion: By calculating the desired end effector velocities and utilizing
the inverse Jacobian, we can determine the required joint velocities for each joint to achieve the
desired motion.
 Analyze robot performance: By studying the Jacobian, we can understand how the robot's
geometry and joint configuration affect its ability to perform specific tasks.

Jacobian and Differential Motion of Frame Translation

The Jacobian, as we discussed earlier, plays a crucial role in relating the differential motions of joints to the
overall motion (both linear and angular) of the end effector in a robot. When focusing specifically on the
differential translation of a frame (like the end effector), the Jacobian simplifies and becomes easier to
understand.

Here's a breakdown of how the Jacobian relates to differential frame translation:

Differential Translation:
Imagine a frame (like the end effector) undergoing a very small movement (dx, dy, dz) along the x, y, and z
axes of a reference frame, all happening in a very short time interval (dt). This infinitesimal change in
position represents the differential translation of the frame.

Jacobian for Translation:

For pure translation, the Jacobian becomes a simple 3xN matrix, where:

 3 represents the three linear velocities (dx/dt, dy/dt, dz/dt) of the frame.
 N represents the number of joints in the robot.
Why 3xN?

Even though the Jacobian relates to all joint velocities, in the case of pure translation, the rotation of each
joint has no effect on the overall linear movement of the end effector. Therefore, the contribution of each
joint's rotational velocity (ω) to the linear velocities becomes zero. This is why the Jacobian for translation
only considers the number of joints (N) and not their rotational components.

The simplified Jacobian for translation looks like this:

| 1 0 ... 0 | (dx/dt)
| 0 1 ... 0 | (dy/dt)
| 0 0 ... 1 | (dz/dt)
 Each row represents a linear velocity component (dx/dt, dy/dt, dz/dt).
 Each column represents a joint in the robot (1 to N).
  All elements except those on the diagonal are zero, indicating that only the linear velocity of each
joint (assumed to be along its own axis) contributes to the overall linear velocity of the end effector.
Using the Jacobian:

Knowing the desired linear velocities (dx/dt, dy/dt, dz/dt) of the end effector and the robot's joint
configuration (number of joints, N), we can solve for the required joint velocities using the inverse of the
Jacobian:

Joint Velocities (θ̇) = J⁻¹ * (v)

where:

 θ̇ is a vector containing the desired joint velocities for each joint.

 J⁻¹ is the inverse of the Jacobian for translation.
 v is a vector containing the desired linear velocities of the end effector (dx/dt, dy/dt, dz/dt).
Key Points:
 The Jacobian for translation is a simple and intuitive way to understand how individual joint motions
contribute to the overall linear movement of the robot's end effector.
 It allows us to calculate the required joint velocities to achieve specific linear end effector
trajectories.
 This concept is particularly useful for tasks like path planning and motion control in robotics.
Additional Considerations:
 While the Jacobian simplifies for pure translation, the full Jacobian (including rotational
components) becomes more complex for robots with rotational joints.
 The specific form of the Jacobian depends on the robot's kinematic structure and the chosen
reference frame.
Jacobian and Differential Motion for Rotation about a General Axis (with Images)

As discussed earlier, the Jacobian relates joint velocities to the overall motion (both linear and angular) of
the robot's end effector.expand_more When considering rotation about a general axis, the situation
becomes more intricate, but the underlying principle remains the same.
Understanding Rotation:

Imagine a rectangular frame (like the end effector) undergoing a small angular rotation. This rotation can be
characterized by:

 Axis of rotation (n̂): A line passing through a fixed point about which the frame rotates (represented
by a blue arrow in the image).
  Angle of rotation (dθ): The small angular change the frame undergoes over a short time interval (dt)
(represented by the curved red arrow in the image).

Differential Rotation:
This infinitesimal change in orientation defines the differential rotation of the frame about the specified
axis.

Jacobian for Rotation:

For pure rotation, the Jacobian becomes a 3xN matrix, similar to translation. Here's the breakdown:

 3 represents the three components of the angular velocity vector (ω) of the frame (how fast it's
rotating around each axis).
 N represents the number of joints in the robot.
Challenge: Axis Dependence
Unlike translation, the Jacobian for rotation is more complex because it depends on the axis of rotation (n̂)
for each joint. This axis is influenced by:
 Specific joint rotation (ω_i): How fast each joint is rotating.
 Robot's kinematic structure: The arrangement of links and joints.
 Chosen reference frame: The coordinate system used to describe the robot's motion.
Visualizing the Challenge:

Imagine a robot arm with two joints (represented by the gray circles in the image). When Joint 1 rotates
(green arrow), the axis of rotation for Joint 2 (dashed blue line) changes relative to the reference frame
(fixed coordinate system). This highlights how the axis of rotation is not constant for each joint and depends
on the robot's configuration.

Formulating the Jacobian:

Due to this dependence on the axis of rotation, directly formulating the Jacobian for a general axis becomes
quite complex for robots with multiple joints. Here are two common approaches to address this:

 Screw Theory: This advanced concept utilizes the idea of a screw axis, which combines the linear
and angular components of motion at a point on the robot.expand_more The Jacobian can be derived
based on screw theory, but it requires a deeper understanding of this topic.
 Plücker Coordinates: This approach utilizes a mathematical representation for lines in space called
Plücker coordinates. By representing the axis of rotation as a line and performing calculations with
these coordinates, the Jacobian for a general axis can be formulated.
Using the Jacobian for Rotation:
Similar to translation, knowing the desired angular velocity (ω) of the end effector and the robot's joint
configuration, we can solve for the required joint velocities using the inverse of the Jacobian for rotation.
However, due to the complexities mentioned above, calculating or utilizing the Jacobian for general
rotations often requires advanced robotics knowledge and specialized software tools.

Key Points:
 The Jacobian for rotation about a general axis is more challenging due to the dependence on the axis
of rotation for each joint.
 Screw theory and Plücker coordinates are two approaches for formulating the Jacobian in this case.
 Calculating and utilizing the Jacobian for complex robots and general rotations often require
advanced tools and expertise.

Differential Transformations of a Frame in Robotics

In robotics, understanding differential transformations of frames is crucial for analyzing and controlling
robot motion. It allows us to describe the infinitesimal (very small) changes in the position and orientation of
a rigid body (like a robot link) relative to a reference frame over a short time interval.

Here's a breakdown of this concept:

Reference Frame and Robot Frame:

 Imagine a fixed reference frame (often the base of the robot) with its own set of axes (X, Y, Z).
 Each robot link is associated with a frame attached to it, also with its own set of axes (typically
denoted by X', Y', Z').

Transformation Matrix:
 A transformation matrix, denoted by T, represents the pose (position and orientation) of a frame (like
the robot link frame) relative to the reference frame. This matrix encodes both the translation (how
far the frame has moved) and rotation (how the frame is oriented) of the link relative to the reference
frame.
Differential Transformation (dT):
 A differential transformation (dT) represents the infinitesimal change in the pose of a frame over a
short time interval (dt). It describes the very small change in the transformation matrix (T) that
occurs due to the robot's movement.
Why Differential Transformations?
 Analyzing finite (large) movements of robots can be complex.
  Differential transformations allow us to approximate continuous motion by considering these tiny,
incremental changes.
 By understanding these small changes, we can analyze and control the overall motion of the robot
more effectively.
Representing Differential Transformations:

There are two common ways to represent differential transformations:

1. Exponential Twist Representation: This approach utilizes a mathematical concept called a twist,
which combines both the linear and angular velocity components of a frame's motion. The
differential transformation is expressed as an exponential function of this twist.
2. Spatial Velocity Representation: This approach represents the differential transformation using a
6x1 vector containing the linear and angular velocity components of the frame's motion. This vector
is often denoted by V.
Relationship between dT and V:

The relationship between the differential transformation matrix (dT) and the spatial velocity vector (V) is
given by:

dT = V * dt

where dt is the small time interval.

Applications of Differential Transformations:

 Forward Kinematics: By integrating differential transformations over a time interval, we can
calculate the final pose of a robot link based on its initial pose and the joint velocities.
 Inverse Kinematics: Given a desired end effector pose, we can use differential transformations to
determine the required joint velocities for the robot to achieve that pose.
 Robot Motion Control: By understanding how joint velocities contribute to the differential
transformations of robot links, we can design control algorithms to achieve desired robot trajectories.

Understanding differential transformations is a fundamental concept in robot kinematics. It allows us to

bridge the gap between the velocities of individual joints and the overall motion of the robot.

Additional Points:
 The specific form of the differential transformation and its relationship to the spatial velocity vector
depend on the chosen representation (exponential twist or spatial velocity).
 Differential transformations are particularly useful for robots with multiple joints where individual
joint movements contribute to the overall motion of the end effector.
Differential Changes Between Frames in Robotics

In robotics, understanding differential changes between frames is crucial for analyzing and controlling robot
motion. It focuses on the infinitesimal (very small) changes in the position and orientation of two frames
relative to each other over a short period of time.
Key Concepts:
 Frames: Frames are rigid bodies with their own set of axes (like X, Y, Z) used to describe their
position and orientation. In robotics, common frames include the reference frame (often the base of
the robot) and the frames attached to individual robot links.
 Differential Changes: These are the infinitesimal changes that occur in the position and orientation
of one frame relative to another over a tiny time interval (dt). They are represented by differential
transformation matrices (dT) or differential twists (V).
Understanding the Importance:
 Analyzing large, finite movements of robots can be complex.
 Differential changes allow us to approximate continuous motion by considering these tiny,
incremental changes in relative pose (position and orientation) between frames.
 By understanding these small changes, we can effectively analyze and control the overall motion of
the robot and its links.

How Differential Changes are Described:

There are two main approaches to describe differential changes between frames:
1. Differential Transformation Matrix (dT): This matrix represents the infinitesimal change in the
complete transformation matrix (T) that describes the pose of one frame relative to another. It
captures both the translation (how far the frame has moved) and rotation (how the frame has rotated)
relative to the other frame over the time interval dt.
2. Differential Twist (V): This is a 6x1 vector that encodes the linear and angular velocity components
of the differential change between frames. It provides a more compact representation compared to
the full dT matrix.
Relationship between dT and V:
The relationship between the differential transformation matrix (dT) and the differential twist (V) is given
by:
dT = V * dt
where dt is the small time interval.
Applications of Differential Changes:

Understanding differential changes between frames forms the foundation for various robotics tasks:
  Forward Kinematics: By integrating differential changes (dT or V) over a time interval, we can
calculate the final pose of a robot link based on its initial pose and the joint velocities.
 Inverse Kinematics: Given a desired final pose for a robot end effector, we can use differential
changes to determine the required joint velocities for the robot to achieve that pose.
 Robot Motion Control: Understanding how joint velocities cause differential changes between
frames allows us to design control algorithms that achieve desired robot trajectories.
Differential Motions of a Robot and its Hand Frame

In robotics, understanding the differential motions of a robot and its hand frame is fundamental for
analyzing and controlling the robot's movement. This involves studying the infinitesimal (very small)
changes in the position and orientation of the robot's hand frame (end effector) relative to a reference frame
over a very short time interval (dt).

Here's a breakdown of this concept:

1. Kinematic Chain and Reference Frame:

 Imagine a robot as a kinematic chain consisting of rigid links connected by joints.
 A reference frame (often the base of the robot) is established with its own set of axes (e.g., X, Y, Z)
to define the robot's spatial position and orientation.
2. Frame Attached to the Hand:
 Each robot link has a frame attached to it, also with its own axes (commonly denoted X', Y', Z').
 The frame attached to the last link of the chain, also known as the end effector, is called the hand
frame.
3. Differential Motion:
 The differential motion of the hand frame refers to the infinitesimal changes in its position and
orientation relative to the reference frame over a tiny time interval (dt).
 These changes are essential to understand because analyzing large, finite movements can be
complex. By focusing on these small changes, we can approximate continuous motion and
effectively analyze and control the robot's overall movement.
4. Types of Differential Motions:

There are two main types of differential motions:

 Differential Translation: This describes the infinitesimal change in the linear position of the hand
frame along the axes of the reference frame (dx, dy, dz).
 Differential Rotation: This describes the infinitesimal change in the orientation of the hand frame
around the axes of the reference frame (dθx, dθy, dθz).
5. Relating Joint Velocities to Differential Motions:
The key aspect of analyzing differential motions is understanding how they relate to the individual joint
velocities of the robot. This relationship is governed by a mathematical tool called the Jacobian.
 The Jacobian is a matrix that maps the joint velocities (θ̇₁, θ̇₂, ...) of the robot to the differential
velocities (linear and angular) of the hand frame (v, ω).
6. Jacobian and Its Applications:
 Utilizing the Jacobian, we can:
o Control the hand frame's motion: By calculating the desired differential velocities and
using the inverse Jacobian, we can determine the required joint velocities for each joint to
achieve the desired movement.
o Analyze robot performance: By studying the Jacobian, we can understand how the robot's
geometry and joint configuration affect its ability to perform specific tasks.

Understanding differential motions and their connection to joint velocities through the Jacobian is crucial for
various aspects of robotics, including:

 Forward Kinematics: Calculating the final pose (position and orientation) of the hand frame based
on initial pose and joint velocities.
 Inverse Kinematics: Determining the required joint velocities to achieve a desired final pose for the
hand frame.
 Robot Motion Control: Designing control algorithms that utilize joint velocities to achieve desired
trajectories for the hand frame.

Calculating the Jacobian for a specific robot requires knowledge of its kinematic structure and the chosen
reference frame. However, I can walk you through the general steps involved and provide some resources
for further exploration:
1. Define the Robot's Kinematics:
 Identify the number of joints (N) in the robot.
 Describe the type of each joint (e.g., revolute, prismatic).
 Define the Denavit-Hartenberg (DH) parameters for each joint, which are a set of parameters that
represent the relative transformations between frames attached to consecutive links in the robot's
kinematic chain.
2. Choose a Reference Frame:
 This is often the base of the robot.
 All other link frames and the hand frame are defined relative to this reference frame.
3. Derive the Transformation Matrix (T):
  For each link, use the DH parameters and appropriate kinematic formulas to calculate the
transformation matrix (T) that describes the pose (position and orientation) of its frame relative to the
previous link's frame or the reference frame (depending on the link's position in the chain).
4. Differentiate the Transformation Matrix:
 Differentiate the transformation matrix (T) with respect to time (t) to obtain the differential
transformation matrix (dT). This matrix captures the infinitesimal changes in position and
orientation due to small joint movements.
5. Extract the Linear and Angular Velocities:
 From the differential transformation matrix (dT), extract the linear velocity vector (v) and the
angular velocity vector (ω) of the hand frame relative to the reference frame.
6. Construct the Jacobian:
 The Jacobian (J) is a 3xN matrix, where:
o 3 represents the three components of the hand frame's linear velocity (v) and the three
components of its angular velocity (ω).
o N represents the number of joints in the robot.
 Each element of the Jacobian (J) represents the contribution of a specific joint's velocity (θ̇ ) to the
corresponding component of the hand frame's linear or angular velocity.
7. Calculate the Jacobian Elements:
 This is the most complex step and involves calculations based on the specific robot's kinematic
structure and the chosen reference frame. The calculations often involve cross products and vector
operations to determine the contribution of each joint's rotation axis to the overall motion of the hand
frame.
Resources for Further Exploration:
 Robotics textbooks: Most introductory robotics textbooks cover the derivation and calculation of
the Jacobian in detail.
 Online resources: Several online tutorials and websites explain the concept of the Jacobian with
examples and step-by-step guides.
 Symbolic computation software: Software like MATLAB or Mathematica can be used to perform
the symbolic calculations involved in deriving the Jacobian for specific robot configurations.
While the terms Jacobian and differential operator are both related to calculus and linear algebra, they serve
different purposes and don't directly translate to each other. Here's a breakdown of their individual roles:
Jacobian:
 In robotics, the Jacobian refers to a matrix that relates the joint velocities of a robot to the differential
velocities (linear and angular) of its end effector (hand frame) over a small time interval.
 It essentially maps the changes in the robot's joint angles (rates of change) to the infinitesimal
changes in the position and orientation of the end effector.
  The Jacobian is a specific mathematical tool used to analyze robot motion and plays a crucial role in
tasks like:
o Forward kinematics: Calculating the final pose of the end effector based on initial pose and
joint velocities.
o Inverse kinematics: Determining the required joint velocities to achieve a desired final pose
for the end effector.
o Robot motion control: Designing control algorithms that utilize joint velocities to achieve
desired trajectories for the end effector.
Differential Operator:
 In calculus, the differential operator, often denoted by d/dx, represents the operation of taking the
derivative of a function with respect to a variable (x in this case).
 It is a general concept used to find the rate of change of a function at a specific point.
 The differential operator is a fundamental tool in calculus for analyzing functions, solving
differential equations, and studying continuous change.

Relationship:
While there's no direct equivalence between the Jacobian and the differential operator, the Jacobian utilizes
the concept of differentiation.
 When we calculate the Jacobian, we are essentially taking the derivatives of the transformation
matrix (T) that describes the pose of the end effector relative to the reference frame, with respect to
time (t).
 This differentiation process provides the infinitesimal changes (represented by the elements of the
Jacobian) in the end effector's position and orientation due to small joint movements.

Therefore, the Jacobian indirectly utilizes the concept of differentiation through mathematical operations,
but it serves a much more specific purpose in the context of robot kinematics and analysing the relationship
between joint and end effector velocities.
Inverse Jacobian:
The term "inverse Jacobian" refers to the inverse of the Jacobian matrix encountered in robot kinematics.
While "Jacobina" is not the standard term and seems like a typo, the concept of the inverse Jacobian is
crucial for various robotics tasks.
Jacobian and Its Role:
  The Jacobian, denoted by J, is a matrix that relates the joint velocities (θ̇ ) of a robot to the differential
velocities (linear and angular) of its end effector (v, ω) over a small time interval.
 It essentially maps the changes in joint angles (rates of change) to the infinitesimal changes in the
position and orientation of the end effector.
Inverse Jacobian:
 The inverse Jacobian, denoted by J⁻¹, represents the mathematical inverse of the original Jacobian
matrix.
 It allows you to solve for the desired joint velocities (θ̇) required to achieve a specific end effector
velocity (v, ω).
Applications of the Inverse Jacobian:
 Inverse Kinematics: This problem involves finding the required joint configurations or motions to
achieve a desired end effector pose or position/orientation. By utilizing the inverse Jacobian, we can
calculate the necessary joint velocities for the robot to reach the desired pose.
 Robot Motion Control: When designing control algorithms for robots, the inverse Jacobian is often
used to translate desired end effector trajectories (paths) into the corresponding joint velocity
commands that need to be sent to the robot's motors.

 The inverse Jacobian is a powerful tool for solving the inverse kinematics problem and designing
robot motion control strategies.
 It allows you to determine the necessary joint movements based on the desired end effector motion.
 Understanding and utilizing the inverse Jacobian is essential for various robotics tasks that involve
controlling the robot's movement and achieving desired trajectories.