Industrial Robotics

Kinematics
Piaggio's Cargo Robot Uses Visual
SLAM to Follow You Anywhere
 Robot Performance
• Robot Speed
• Robot Acceleration
• Repeatability: This specification represents the
ability of the manipulator to return repeatedly to
the same location.
• Resolution: This specification represents the
smallest incremental motion that can be
produced by the manipulator.
• Accuracy: This specification covers the ability of a
robot to position its end-effector at a
preprogrammed location in space.
Robot Kinematics
Position Analysis
Robot Link & Joint
 Joints

Illustration of revolute and prismatic joints

 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 the hand is located at a particular
point)
 2.2 ROBOTS AS MECHANISM

• Multiple type robot have multiple DOF.

(3 Dimensional, open loop, chain mechanisms)

A one-degree-of-freedom closed-
(a) Closed-loop versus (b) open-loop mechanism
loop four-bar mechanism
 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 iˆ  b ˆj  c kˆ
x y z

Fig. 2.3 Representation of a point in space

 2.3.2 Representation of a Vector in Space
A Vector P in space : 3 coordinates of its tail and of its head

   a x 
P  AX i  AY j  Az k P  b y 
 c z 

x
 y
P  ax 
x y
, b y  ...
z w w
Fig. 2.4 Representation of a vector in  
space  w w : scale factor
2.3.3 Representation of a Frame at the Origin of
a Fixed Reference Frame
• Each Unit Vector is mutually perpendicular :
normal, orientation, approachvector
n o a P x x x x
n oy ay Py 
F  y
n z oz az Pz 
 
0 0 0 1
P : Position vector of the
Origin of the Frame

Fig. 2.6 Representation of a frame in a frame

 2.3.5 Representation of a Rigid Body
• An object can be represented in space by
attaching a frame to it and representing the
 n x o x a x Px 
frame in space.  
 ny oy ay Py 
Foject 
n z oz az Pz 
 
0 0 0 1
n.o  0 n 1
n.a  0 o 1
Fig. 2.8 Representation of an object a.o  0 a 1
in space
 2.4 HOMOGENEOUS
TRANSFORMATION MATRICES

A transformation matrices must be in square

form.
• It is much easier to calculate the inverse of
square matrices.
• To multiply two matrices, their dimensions must
 n x o x a x Px 
match. n o a 
P
(Column No of   should be they same
F First y y y  as Row No
 n z o z a z Pz 
of second)  
0 0 0 1
 2.5 REPRESENTATION OF
TRANSFORMATIONS
A transformation is defined as making a
movement in space.
• A pure translation.
• A pure rotation about an axis.
• A combination of translation and/or
rotations.
 • 2.5.1 Representation of a Pure Translation
a 1 0 0 dx 
a 0 0 d y 
z x 1
d T 
o 0 0 1 dz 
p n  
o 0 0 0 1
n
Fmoi  T (d x , d y , d z ) xFcu
y
x 1 0 0 d x   nx ox ax Px   nx ox ax Px  d x 
0 1 0 d y  n y oy ay Py  n y oy ay Py  d y 
Fmoi  x 
0 0 1 d z   nz oz az Pz   nz oz az Pz  d z 
     
0 0 0 1 0 0 0 1 0 0 0 1 
Fig. 2.9 Representation of an pure translation in space
 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.
z z

a a
 Pz
Pz
o
o 
n n
Py Px
y Py Px
x x
 Px  Pn ,
z
Py  l1  l 2  P0 cos  Pa sin
Pz  l3  l 4  P0 sin  Pa cos

 Px  1 0 0   Pn 
L3  P   0 cos  sin   Po 
 y 
 Pz  0 sin  cos   Pa 
Pz
L4

y
L1
Py
L2
Pxyz  R( x, ) xPnao
U
PU TR x RP
  c 0 s 
1 0 0 
R ( y, )   0 1 0 
R( x,  )  0 c   s  
 s 0 c 
0 s  c  

c  s 0
R( z , )   s c 0
 0 0 1
 Representation of a Pure Rotation
about an Axis
z
z o y

x
P P
l3 P
Pz n
P  l1
Pa Py
l2 l4
y
 x
l3 l4 Px l2
Py
y l1

z=a
• Given two points anoa= (4, 3, 2)T and bnoa= (6, 2, 4)T with respect to the
rotated noa’s coordinate system, determine the corresponding points axyz,
bxyz, with respect to the reference coordinate system if it has been rotated
60° about the OZ axis.

 0.5 0.866 0   4  0.598

a xyz  R  z, 60o  a noa  0.866 0.5 0   3    4.964 
 0 0 0   2   2.0 
 0.5 0.866 0   6  1.268 
b xyz 
 R  z , 60  a  0.866
o noa
0.5    
0   2   6.196  
 0 0 0   4   4.0 
2.5.3 Representation of Combined
Transformations
• A number of successive translations and
rotations….
(1) Rotation of α degrees about the x-axis
(2) Translation of [l1, l2, l3]
(3) Rotation of β degrees about the y-axis
Pxyz  P3, xyz  R( y,  ) xT (l1 , l 2 , l3 ) xR( x, ) xPnoa
 Inverse of a Matrix

 A 11 A21 ... An1 

A A22 ... An 2 
1 T 1  12
A1   Ajk  
detA detA  ... ... ... ... 
 
 A1n A2 n ... Ann 

• Determinant
• Transpose
• Minor, Cofactor
• Unit matrix
Inverse of a matrix calculation steps :
• Calculate the determinant of the matrix.
• Transpose the matrix.
• Replace each element of the transposed
matrix by its own minor.
• Divide the converted matrix by the
determinant.
 nx ox ax Px   nx n y nz P.n 
n   
oy ay Py   ox oy oz  P.o 
T  y 1
T   
 nz oz az Pz  ax ay az  P.a 
  
0 0 0 1  0 0 0 1 
2.6 INVERSE OF TRANSFORMATION
MATIRICES

known, unknown

U
TE  U TR RTH H TE  U TP PTE

 TR   TR TH TE  TE    TR  ( TP TE )  TE 
U 1 U R H H 1 U 1 U P H 1

R
TH  U TR1 U TP PTE H TE1  RTU U TP PTE ETH
Inverse of a matrix calculation steps :

Calculate the determinant of the matrix.

• Transpose the matrix.
• Replace each element of the
transposed matrix by its own
minor.
• Divide the converted matrix by the
determinant.
 2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT

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..
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
• D-H Representation :
♣ Simple way of modeling robot links and joints
for any robot configuration, regardless of its
sequence or complexity.
♣Transformations in any coordinates is possible.
♣ Any possible combinations of joints and links
and all-revolute articulated robots are
represented.
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.).
Line perpendicular to the plane including two z-axes ( = direction of cross
product of two axes)
Symbol Terminologies :
• θ: A rotation about the z-axis.
• d : The distance on the z-axis.
• a : The length of each common normal (Joint
offset).
• α : The angle between two successive z-axes
(Joint twist)

Only θ and d are joint variables.

 The necessary motions to transform
from one reference frame to the next.
(I) Rotate about the zn-axis an able of θn+1. (Coplanar)
(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1 colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins of xn+1
(IV) Rotate zn-axis about xn+1 axis an angle of αn+1 to align zn-axis with zn+1-axis.

n
Tn 1  An 1  R( z ,  n 1 ) xT (0,0, d n 1 ) xT (a n 1 ,0,0) xR( x,  n 1 )
c n 1  s n 1c n 1 s n 1s n 1 an 1c n 1 
 s c  c   c s a s 
An 1   n 1 n 1 n 1 n 1 n 1 n 1 n 1 

 0 s n 1 c n 1 d n 1 
 
 0 0 0 1 
R
TH  R T1 1T2 2T3 ... n 1 Tn  A1 . A2 A3 ... An
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.).
Line perpendicular to the plane including two z-axes ( = direction of cross
product of two axes)
Symbol Terminologies :
• θ: A rotation about the z-axis.
• d : The distance on the z-axis.
• a : The length of each common normal (Joint
offset).
• α : The angle between two successive z-axes
(Joint twist)

Only θ and d are joint variables.

 The necessary motions to transform
from one reference frame to the next.
(I) Rotate about the zn-axis an able of θn+1. (Coplanar)
(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1 colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins of xn+1
(IV) Rotate zn-axis about xn+1 axis an angle of αn+1 to align zn-axis with zn+1-axis.

n
Tn 1  An 1  R( z ,  n 1 ) xT (0,0, d n 1 ) xT (a n 1 ,0,0) xR( x,  n 1 )
c n  s n c n s n s n an c n 
 s c n c n c n s n an s n 
An   n
 0 s n c n dn 
 
 0 0 0 1 
R
TH  R T1 1T2 2T3 ... n 1 Tn  A1 . A2 A3 ... An
 c n  s n c n s n s n ln c n 
 s c n c n c n s n 
ln s n 
An   n

 0 s n c n dn 
 
 0 0 0 1 
List and definitions of D-H parameters
• di: called the link offset, is the algebraic
distance along axis zi-1 to the point where the
common perpendicular to axis zi is located.
• ai called the link length, is the length of the
common perpendicular to axes zi-1 and zi , that
is parameter ai is equal to shortest distance
between consecutive joint axes zi-1 and zi .
• i called the link angle, is the angle around zi-1
that the common perpendicular makes with
vector xi-1,
 Link Frame Assignments
• The z-vector, zi, of a link frame i is always on a
joint axis.
• The x-vector xi, of link frame i lies along the
common perpendicular to axes zi-1 and zi and
is oriented from zi-1 to zi.
• The origin of link frame i is located at the
intersection of the common perpendicular to
axes zi-1 and zi and joint axis zi.
• The direction of vector zi is always chosen so
that the resulting twist angle i is positive
 The Three Laws of Robotics
• A robot may not injure a human being, or,
through inaction, allow a human being to
come to harm.
• A robot must obey the orders given it by
human beings except where such orders
would conflict with the First Law.
• A robot must protect its own existence as long
as such protection does not conflict with the
First or Second Law.
• Zeroth law: A robot may not injure humanity,
 Painting robot RTR

# l d   Var
1 0 0 π/2+1 π/2 1
2 0 l1+l2 0 -π/2 l2
3 l3 0 -π/2+2 0 2
3R planar manipulator robot
3R P UMA manipulator and links
coordinate frame
Stanford robot
SCARA manipulator robot
Adept SCARA

Khớp 2

Khớp 1 Khâu 2 Khớp 3

(tịnh tiến)
Khâu 1
Khâu 3

Khớp 4
Khâu 4

Bệ (khâu 0) Khâu 4
Adept SCARA
 Unimation PUMA Robot
(Programmable Universal Manipulator for Assembly)
SCARA wafer-handling robot
SCARA wafer-handling robot
Shuttle Remote Manipulator
System (SRMS)
Shuttle Remote Manipulator
System (SRMS)
Shuttle remote manipulator
system (SRMS), also known
as (SSRMS), is an arm and a
hand attached to the Shuttle
or space station. It is utilized
for several purposes such as:
satellite deployment,
construction of a space
station, transporting a crew
member at the end of the
arm, surveying and
inspecting the outside of the
station using a camera.
Shuttle Remote Manipulator
System (SRMS)
Shuttle Remote Manipulator
System (SRMS)
 SUPER
humanoid
• SUPER
humanoid
which will be
installed in a
museum in the
Netherlands. It
cost about
$200,000. It has
about 36
DOF. It will be
covered with
 Example 1:
l4 l5
l2 l3

2
4
l6
l7 3

l1
zR
1
yR

xR
 xH
z1
x3
zH
x4
x1
z2
z3 4 z4
2
x2

z0 3
1
y0 Joint L d  
1 l2 l1 /2+1 0
x0
2 L3 -l7 2 0
3 l4 l6 3 π/2
4 l5 0 4 π/2
H 0 0 π/2 π/2
 c123  s123 s4  s123c4 l2 s1  l3 s12  l4 s123  l5 s123c4 
s c123 s4 c123c4 l2c1  l3c12  l4c123  l5c123c4 
0
TH   123
 0 c4 s4 l1  l6  l7  l5 s4 
 
 0 0 0 1 
 Example 1:

yR • Suppose the object P is to be picked

E0 E Q off the conveyor belt at the point Q by
the end effector E of the 2-dof
manipulator shown in below figure.
l2 Assume that E is in the position E0
h when P is at P0 and that the conveyor
v belt is moving with constant velocity v.
P The effector is to be guided from rest
l1 along a straight line EQ in such a way P

and E arrive at Q at the same instant,
P0 xR
k and the effector is again at rest at rest
Q. Determine suitable robot variables
l2 and  to complish this task.
 Example 1:
The position of end effector E is given by
R
PEx   l1  l2  cos   x0  t 
R
PEy   l1  l2  sin   h
The position of point P is specified by
R
PEx  k
R
PEy  vt
Our task is obtain an x0(t) in such a way that
 l1  l2  cos   k
 l1  l2  sin   vt
h
Implying
h x0  t1   x    k
h  vt1 and t1  and v
v
Clearly, there exist an infinite number of possibilities for accomplishing this task.
There are four conditions to be satisfied by x0(t):
x0  0   0
h
x   k
v
v0  0   0
h
v0    0
v
 Manipulators – Tay máy
• A mechanism, usually consisting of a series of segments,
jointed or sliding relative to one another, for the purpose of
grasping and moving objects usually in several degrees of
freedom. It may be remotely controlled by a computer or by a
human
 Walking machines
• The wheel was invented about 6,000 years
ago.

Chebyshev's walking mechanism

 How to make it?

Chain produced by an
automatic process.