ECE 5330/6311: Intro to Robotics Class Worksheet – Lecture 1

Name:

1. Define the following terms

Robot (official RIA definition):

Configuration:

Configuration space:

Degrees of freedom:

State:

State space:

reachable workspace:

dexterous workspace:

accuracy:

repeatability:

controller resolution:

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Chapter 2
Forward Kinematics: determine position and orientation of end effector or tool in terms of joint
variables

Location of end effector

𝑥10 = 𝑟1 cos(𝜃1 )

𝑦10 = 𝑟1 sin(𝜃1 )

𝑥20 = 𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2

𝑦20 = 𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2

cos(𝜃1 + 𝜃2 ) − sin(𝜃1 + 𝜃2 )
𝑥2 ∙ 𝑥0 𝑦2 ∙ 𝑥0 ( ) cos(𝜃1 + 𝜃2 )
𝑅20 = [𝑥 ∙ 𝑦 𝑦2 ∙ 𝑦0 ] = [ sin 𝜃1 + 𝜃2 ]
2 0

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Chapter 3: Inverse Kinematics: mathematical process of calculating the variable joint parameters
needed to place the end of a robot manipulator in a given position and orientation relative to the
start of the chain.

Law of cosines: triangle sides a,b,c, and angle

opposite c is 𝜃𝑐 :

𝑐 2 = 𝑎 2 + 𝑏 2 − 2𝑎𝑏 cos (𝜃𝑐 )

𝜃𝑐 = 𝜋 − 𝜃2

cos(𝜃𝑐 ) = cos(𝜋 − 𝜃2 )

cos(𝛼 ± 𝛽 ) = cos(𝛼) cos(𝛽 ) ∓ 𝑠𝑖𝑛(𝛼) sin(𝛽 )

cos(𝜋 − 𝜃2 ) = cos(𝜋) cos (𝜃2 sin(𝜋) sin(𝜃2 )

cos(𝜋 − 𝜃2 ) = −cos (𝜃2 )

𝑥 2 + 𝑦 2 − (𝑟12 + 𝑟22 )
cos(𝜃2 ) = ≔𝐷
2𝑟1 𝑟2

sin(𝜃2 ) = ±√1 − 𝐷2

sin (𝜃 ) ±√1−𝐷2
𝜃2 = tan−1 (cos (𝜃2 )) = tan−1 ( )
2 𝐷

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Chapter 4: Velocity Kinematics

Differentiate kinematic equations:

𝑑 𝑑
𝑥 = (𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡

𝑑 𝑑
𝑦 = (𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡

𝑥̇ = −𝑟1 sin(𝜃1 )𝜃̇1 − 𝑟2 sin(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )

𝑦̇ = 𝑟1 cos(𝜃1 )𝜃̇1 + 𝑟2 cos(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )

𝑥 𝜃1
𝐱=[ 𝑦 ], 𝐪 = [𝜃 ]
2

(𝜃1 + 𝜃2 )
−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin
𝐱̇ = [ ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )

𝐽 = Matrix Jacobian

𝐱̇ = 𝐪̇

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Inverse velocity Kinematics
−𝑟 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )
𝐱̇ = [ 1 ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )

𝐱̇ = 𝐽𝐪̇

𝐪̇ = 𝐽−𝟏 𝐱̇

𝑎 𝑏
𝐴=[ ]
𝑐 𝑑
1 𝑑 −𝑏
𝐴−1 = det (𝐴) [ ], where det(𝐴) = 𝑎𝑑 − 𝑏𝑐
−𝑐 𝑎

1 𝑟2 cos(𝜃1 + 𝜃2 ) 𝑟2 sin(𝜃1 + 𝜃2 )
𝐽−𝟏 = 𝑟 [ ]
1 𝑟2 sin (𝜃2 ) −𝑟1 cos(𝜃1 ) − 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 )

Derivation of determinant (you can skip this)

det(𝐽) =(𝑟2 cos(𝜃1 + 𝜃2 ))(−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ))

−(−𝑟2 sin(𝜃1 + 𝜃2 ))(+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))

=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) − 𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) + 𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )

=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )

+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) +𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )

= −𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) + (𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ), 𝛼 = 𝜃1 + 𝜃2 , 𝛽 = 𝜃1 ,

= 𝑟1 𝑟2 (− sin(𝛽) 𝑟2 cos(𝛼) + cos(𝛽) sin ( 𝛼)),

Property: sin(𝛼 − 𝛽) = sin(𝛼) cos(𝛽) − cos (𝛼)sin (𝛽)

= 𝑟1 𝑟2 (cos(𝛽) sin ( 𝛼) − sin(𝛽) 𝑟2 cos(𝛼)),

= 𝑟1 𝑟2 sin (𝜃2)

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In class assignment:

2. Suppose that the tip of a single link travels a distance d between two points. A linear axis would travel
the distance d while a rotational link would travel through an arc length ℓ𝜃 as shown.
2a. Write the law of cosines for a triangle with sides a,b,c, and side c opposite angle θc,:

2b. Use the law of cosines to determine d.

𝑑 = √2𝑙 2 − 2𝑙 2 cos 𝜃 = 𝑙√2(1 − cos 𝜃)

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 ECE 5330/6397: Intro to Robotics, Class Worksheet – Preparation for Lecture 2

3. (10 pts) Use the law of cosines to derive the equation for cos 𝜃2 .

4. (20 pts) Derive inverse equation for the two-link manipulator at right:
𝑟2 sin 𝜃2 α γ
𝜃1 = tan−1(𝑦/𝑥) − tan−1 ( )
𝑟1 + 𝑟2 cos 𝜃2

5. [use a calculator or computer] For the two-link manipulator, suppose 𝑟1 = 5, 𝑟2 = 2.

3 1
• (20 pts) Find coordinates of the tool when 𝜃1 = − 4 𝜋, 𝜃2 = 2 𝜋

• (10 pts) If joint velocities are constant at 𝜃̇1 = 2, 𝜃̇2 = 5, what is the velocity of the tool (symbolically,
leave in terms of 𝜃1 and 𝜃2 )

3 1
• (20 pts) What is the instantaneous tool velocity when 𝜃1 = − 𝜋, 𝜃2 = 𝜋? (evaluate this, two
4 2
scalars)

6. (20 pts) Go to http://demonstrations.wolfram.com/ForwardAndInverseKinematicsForTwoLinkArm/, take

two screenshots of the manipulator in different singular configurations. Attach them to this document

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