Chapter - 2 (Position Analysis)
Chapter - 2 (Position Analysis)
2.1 INTRODUCTION
Forward Kinematics:
to determine where the robot’s hand is?
(If all joint variables are known)
Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
What is Kinematics
•Forward kinematics z
Given joint variables
q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
x
Y ( x, y, z , R13, R 23, R 33)
•Inverse kinematics z
End effector position
and orientation
x
q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
Inverse kinematics
x0
cos ( x0 / l )
1
Chapter 2
Robot Kinematics: Position Analysis
Fig. 2.1 A one-degree-of-freedom closed-loop Fig. 2.2 (a) Closed-loop versus (b) open-loop mechanism
three-bar mechanism
Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.1 Representation of a Point in Space
A point P in space :
3 coordinates relative to a reference frame
^ ^ ^
P a x i by j c z k
A Vector P in space :
3 coordinates of its tail and of its head
__ ^ ^ ^
P a x i by j c z k
x
__ y
P
z
w
Fig. 2.4 Representation of a vector in space
Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.3 Representation of a Frame at the Origin of a Fixed-Reference Frame
nx ox a x
F n y o y a y
nz oz a z
nx ox a x Px
n o y a y Py
F y
nz oz a z Pz
0 0 0 1
nx ox ax Px
n o y a y Py
Fobject y
nz oz a z Pz
0 0 0 1
nx ox a x Px
n o y a y Py
F y
nz oz a z Pz
0 0 0 1
Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.1 Representation of a Pure Translation
1 0 0 dx
0 1 0 d y
T
0 0 1 dz
0 0 0 1
Fig. 2.9 Representation of an pure translation in space
Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.2 Representation of a Pure Rotation about an Axis
Assumption : The frame is at the origin of the reference frame and parallel to it.
Fig. 2.13 Effects of three successive transformations Fig. 2.14 Changing the order of transformations will
change the final result
Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.5 Transformations Relative to the Rotating Frame
Example 2.8
P0=R6-0 P6
2.3 ROTATIONAL TRANSFORMATIONS
2.3 ROTATIONAL TRANSFORMATIONS
2.3 ROTATIONAL TRANSFORMATIONS
Summary
We have seen that a rotation matrix R:
• It represents a coordinate transformation relating to a point P
in two different coordinate.
Rot(y,)=R (y,)
2.4 COMPOSITION OF ROTATIONS
Composition of rotations about current axes
We have coordinate frame o1x1y1z1 is rotated to
coordinate frame o2x2y2z2
2.4 COMPOSITION OF ROTATIONS
Composition of rotations about current axes
Then the rotation matrix R
2.4 COMPOSITION OF ROTATIONS
Composition of rotations about current axes
In order to transform the coordinates of a point p from its
representation 𝑝2 in the frame o2x2y2z2 to its representation 𝑝0
in the frame o0x0y0z0,
X_0 X_2
Y-0 Y-2
Z_0 Z_2
2.5.1 Euler Angles
A rotation matrix in terms of three independent quantities
Rotate about the z-axis by the angle ∅ .
Rotate about the current y-axis by the angle 𝜃.
Rotate about the current z-axis by the angle Ψ.
2.5.1 Euler Angles
A rotation matrix in terms of three independent quantities
2.5.1 Euler Angles
3*3
2.5.1 Euler Angles
Where atan2(y,x) returns the arc tangent of the two numbers x and y.
2.5.2 Roll, Pitch, Yaw Angles
T{6-0}=A1 A2 A3 A4 A5 A6
3.1 KINEMATIC CHAINS
Solution: The z-axes all point out of the page, and are not shown in the
figure.
3.2 FORWARD KINEMATICS
THE DENAVIT-HARTENBERG CONVENTION
The joint axes z0 and z1 are normal to the page.
Solution :
Step 1 : locate and label joints.
Step 2 : establish the base frame.
Step 3: locate origin.
Step 4,5 : establish x –axis and y –axis.
Step 6: establish end effector frame.
Step 7: create table of DH parameters.
Example: FORWARD KINEMATICS
System Matrices :
Example: FORWARD KINEMATICS
Forward kinematics is :-
Example: FORWARD KINEMATICS
Example 3.3 find forward kinematics for robotic wrist type Spherical Wrist
Example: FORWARD KINEMATICS
Solution : The spherical wrist frame assignment
Example: FORWARD KINEMATICS
Solution :
The spherical wrist frame assignment
DH steps:
Step 1 : locate and label joints.
Step 2 : establish the base frame.
Step 3: locate origin.
Step 4,5 : establish x –axis and y –axis.
Step 6: establish end effector frame.
Step 7: create table of DH parameters.
Example: FORWARD KINEMATICS
Table of DH parameters
Example: FORWARD KINEMATICS
Wrist Matrices:
Example: FORWARD KINEMATICS
Forward kinematics is :-
Example: FORWARD KINEMATICS
Example 3.4: find forward kinematics for Cylindrical Manipulator with
Spherical Wrist.
Example: FORWARD KINEMATICS
The forward kinematics of this manipulator is described by
Example: FORWARD KINEMATICS
Example: FORWARD KINEMATICS
Fig. 2.16 The Universe, robot, hand, part, and end effecter frames.