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Unit 3

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17 views9 pages

Unit 3

Uploaded by

k.sathwika888
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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FORWARD AND REVERSE KINEMATICS
(TRANSFORMATION) OF THREE DEGREES OF
FREEDOM ROBOT ARM

FORWARD TRANSFORMATION:

X3 = a+b+c

CosƟ1 = a/l1 => a = l1CosƟ1

Cos(Ɵ1+Ɵ2) = b/l2 => b = l2Cos(Ɵ1+Ɵ2)

Cos(Ɵ1+Ɵ2+Ɵ3) = c/l3 => c = l3Cos(Ɵ1+Ɵ2+Ɵ3)

X3 = l1CosƟ1 + l2Cos(Ɵ1+Ɵ2) + l3Cos(Ɵ1+Ɵ2+Ɵ3)

Y3 = A+B+C

SinƟ1 = A/l1 => A = l1SinƟ1

Sin(Ɵ1+ Ɵ2) = B/l2 => B = l2Sin(Ɵ1+ Ɵ2)

Sin(Ɵ1+Ɵ2+Ɵ3) = C/l3 => C = l3Sin(Ɵ1+Ɵ2+Ɵ3)

Y3 = l1SinƟ1 + l2Sin(Ɵ1+ Ɵ2) + l3Sin(Ɵ1+Ɵ2+Ɵ3)

ɸ = Ɵ1+Ɵ2+Ɵ3
REVERSE TRANSFORMATION:

X2 = X3 - c => X2 = X3 - l3Cosɸ ( since Ɵ1+Ɵ2+Ɵ3 = ɸ)

=> X2 = l1CosƟ1 + l2Cos(Ɵ1+Ɵ2) + l3Cos(Ɵ1+Ɵ2+Ɵ3) - l3Cos(Ɵ1+Ɵ2+Ɵ3)

( since X3=l1CosƟ1 + l2Cos(Ɵ1+Ɵ2) + l3Cos(Ɵ1+Ɵ2+Ɵ3) )

X2 = l1CosƟ1 + l2Cos(Ɵ1+Ɵ2)

( we know that Cos(A+B) = CosA . CosB - SinA . SinB)

X2 = l1CosƟ1 + l2CosƟ1CosƟ2 - l2SinƟ1SinƟ2


Y2 = Y3 - C => Y2 = Y3 - l3Sinɸ

=>Y2 = l1SinƟ1 + l2Sin(Ɵ1+ Ɵ2) + l3Sin(Ɵ1+Ɵ2+Ɵ3) - l3Sin(Ɵ1+Ɵ2+Ɵ3)

( since Y3 = l1SinƟ1 + l2Sin(Ɵ1+ Ɵ2) + l3Sin(Ɵ1+Ɵ2+Ɵ3) )

Y2 = l1SinƟ1 + l2Sin(Ɵ1+ Ɵ2)

( we know that Sin(A+B) = SinA . CosB + CosA . SinB )

Y2 = l1SinƟ1 + l2SinƟ1CosƟ2 + l2CosƟ1SinƟ2

X22 + Y22 = (l1CosƟ1 + l2CosƟ1CosƟ2 - l2SinƟ1SinƟ2)2 +

(l1SinƟ1 + l2SinƟ1CosƟ2 + l2CosƟ1SinƟ2)2

( we know that (A+B+C)2 = A2 + B2 + C2 + 2AB + 2BC + 2CA )

= l12Cos2Ɵ1 + l22Cos2Ɵ1Cos2Ɵ2 + l22Sin2Ɵ1Sin2Ɵ2 + 2l1l2 Cos2Ɵ1CosƟ2

- 2l22 CosƟ1SinƟ1CosƟ2SinƟ2 - 2l1l2 SinƟ1SinƟ2 CosƟ1

+ l12Sin2Ɵ1 + l22Sin2Ɵ1Cos2Ɵ2 + l22Cos2Ɵ1Sin2Ɵ2 +2l1l2 Sin2Ɵ1CosƟ2

+ 2l22 SinƟ1CosƟ1SinƟ2CosƟ2 + 2l1l2 SinƟ1CosƟ1SinƟ2

= l12(Cos2Ɵ1 + Sin2Ɵ1) + l22(Cos2Ɵ1Cos2Ɵ2 + Sin2Ɵ1Sin2Ɵ2 + Sin2Ɵ1Cos2Ɵ2

+ Cos2Ɵ1Sin2Ɵ2) + 2l1l2(Cos2Ɵ1CosƟ2 + Sin2Ɵ1CosƟ2)

= l12 + l22Cos2Ɵ1(Cos2Ɵ2 + Sin2Ɵ2) + l22Sin2Ɵ1(Sin2Ɵ2 + Cos2Ɵ2)

+ 2l1l2CosƟ2(Cos2Ɵ1 + Sin2Ɵ1)

= l12 + l22Cos2Ɵ1 + l22Sin2Ɵ1 + 2l1l2CosƟ2

= l12 + l22(Cos2Ɵ1 + Sin2Ɵ1) + 2l1l2CosƟ2 ( Since Cos2A + Sin2A =1)

X22 + Y22 = l12 + l22 + 2l1l2CosƟ2

CosƟ2 = (X22 + Y22 - l12 - l22 ) / 2l1l2

Ɵ3 = ɸ - (Ɵ1 + Ɵ2)
Forward and Reverse Transformation of a Four Degrees of Freedom
Manipulator in 3-D

FORWARD TRANSFORMATION:

FOR X-AXIS:

Z
For Co-ordinate points joint 2 moving about Y-Axis i.e.; X Y
Y

X
C
So it will move in XZ plane. i.e.;

Z 𝐴𝑑𝑗 𝑥
cos Θ2 = = => x= l cos Θ2
hyp l

Θ2
X

Similarly for joint J4 also similar to J2 , but only length is different (l4)
𝑥
=> cos Θ4 = => x=l4 cos Θ4
𝑙4

But finally these complete joints (J2,J4) move around Z-axis, so this Z-axis movement
also gives some extra projections on X-axis.
=> Finally x = ( l cos Θ2 + l4 cos Θ4) cos Θ1
Only l at Θ2 Only J4 at Θ4

Complete joint length


about Y movement in X-
projection

Complete joint length projection in


including Z direction movement at J1

Similarly y = ( l cos Θ2 + l4 cos Θ2 ) x sin Θ1

z = l1 + l sin Θ2 + l4 sin Θ4

REVERSE TRANSFORMATION:
x4 = x – cos Θ1 ( l4 cos Θ4 ) x = ( l cos Θ2 + l4 cos Θ4) cos Θ1
y4 = y – sin Θ1 ( l4 cos Θ4 ) y = ( l cos Θ2 + l4 cos Θ2 ) x sin Θ1
z4 = z – l4 sin Θ4 z = l1 + l sin Θ2 + l4 sin Θ4

=> x4 = [ ( l cos Θ2 + l4 cos Θ4 ) x cos Θ1 ] – cos Θ1 l4 cos Θ4


= l cos Θ1 cos Θ2 + l4 cos Θ1 cos Θ4 – l4 cos Θ1 cos Θ4

x4 = l cos Θ1 cos Θ2 => x42 = l2 cos2 Θ1 cos2 Θ2


=> y4 = l cos Θ2 sin Θ1 + l4 cos Θ4 sin Θ1 – l4 cos Θ4 sin Θ1

y4 = l cos Θ2 sin Θ1 => y42 = l2 cos2 Θ2 sin2 Θ1

=> Z4 = l1 + l sin Θ2 + l4 sin Θ4 – l4 sin Θ4

z4 = l1 + l sin Θ2 => ( z4 – l1 )2 = l2 sin2 Θ2 -------------- i

x42 + y42 = l2 cos2 Θ2 [ sin2 Θ1 + cos2 Θ1 ]

x42 + y42 = l2 cos2 Θ2

x42 + y42 + ( z4 – l1 )2 = l2 [ cos2 Θ2 + sin2 Θ2 ]

[ x42 + y42 + ( z4 – l1 )2 ]1/2 = l

from i,
( z4 – l1 ) = l sin Θ2

=>

=>

=>
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