MIN Faculty

Department of Informatics

Introduction to Robotics
Lecture 2

Shuang Li, Jianwei Zhang

[sli, zhang]@informatik.uni-hamburg.de

University of Hamburg
Faculty of Mathematics, Informatics and Natural Sciences
Department of Informatics
Technical Aspects of Multimodal Systems

April 16, 2021

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Outline
Forward Kinematics Introduction to Robotics

Introduction
Spatial Description and Transformations
Forward Kinematics
More on presentation of a rigid body
Denavit-Hartenberg convention
Definition of joint coordinate systems
Example DH-Parameter of a single joint
Example DH-Parameter for a manipulator
Example featuring Mitsubishi PA10-7C
Robot Description
Inverse Kinematics for Manipulators
Instantaneous Kinematics
Trajectory Generation 1
Trajectory Generation 2
Dynamics
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Outline (cont.)
Forward Kinematics Introduction to Robotics

Robot Control
Path Planning
Task/Manipulation Planning
Telerobotics
Architectures of Sensor-based Intelligent Systems
Summary
Conclusion and Outlook

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Review of last lecture
Forward Kinematics Introduction to Robotics

I Degree of freedom
I The number of variables to determine position of a control system in space.
I Robot classification
I mechanical structure
I Rotation matrix
I A RB−1 = B RA = B RAT and A
RB B RA = I
I Homogeneous transformation matrix
 
R ~p
I T =
0 1
I Transformation equation

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Transformation equation
Forward Kinematics Introduction to Robotics

In order to find the desired end effector pose:

Z T6 E = BG

In order to find the manipulator transformation T6 :

T6 E
T6 = Z −1 BGE −1 Z
B G
In order to determine the pose of the object B:

B = Z T6 E G −1

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Review of last lecture
Forward Kinematics Introduction to Robotics

A vector A~P is rotated about Ŷ by 30 degrees and is subsequently rotated about X̂ by

45 degrees. Give the rotation matrix that accomplishes these rotations in the given
order.
z
R = Rx ,45 Ry ,30
  
1 0 0 cos30 0 sin30
= 0 cos45 −sin45  0 1 0 
  
0 sin45 cos45 −sin30 0 cos30
 
0.866 0 0.5 y
=  0.353 0.707 −0.612
  Roll 30
−0.353 0.707 0.612
45 Pitch

x
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More on presentation of orientation: Euler angles
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler angles ϕ, θ, ψ

z y

A y B x

x z

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More on presentation of orientation: Euler angles (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler-angles ϕ, θ, ψ

z y

-90
Pitch

A y B x

x z

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More on presentation of orientation: Euler angles (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler-angles ϕ, θ, ψ

z y’(y)

A y z’ B

x x’(z)

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More on presentation of orientation: Euler angles (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler-angles ϕ, θ, ψ

z y’(y)

A y z’ B

Roll
-90
x x’(z)

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More on presentation of orientation: Euler angles (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler-angles ϕ, θ, ψ

z z”

A y B y”

x x”

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More on presentation of orientation: Euler angles (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Euler-angles ϕ, θ, ψ
I rotations are performed successively around the
axes, e. g. ZYX or ZXZ (12 possibilities!)
I order depends on reference coordinates
I Intrinsic rotations
I Extrinsic (fix angle) rotations

I Roll-Pitch-Yaw
I X-Y-Z fixed angles
I used in aviation and maritime

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Converting Euler Angles to a Rotation Matrix
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

 
1 0 0
Rx ,ϕ = 0 C ϕ −Sϕ
 
0 Sϕ C ϕ
 
C θ 0 Sθ
Ry ,θ = 0 1 0
 
−Sθ 0 C θ
 
C ψ −Sψ 0
Rz,ψ =  Sψ C ψ 0
 
0 0 1

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More on presentation of orientation
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Rotation matrix
I implicit, easy to use linear algebra to perform computation
I Euler angles
I Gimbal lock!
I When two gimbals rotate around the same axis, the system loses one degree of freedom.

17

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More on presentation of orientation (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Rotation matrix
I implicit, easy to use linear algebra to perform computation, singularity-free
I Euler angles ϕ, θ, ψ
I explicit, but gimbal lock/singularity happens
I Equivalent angle-axis representation Rk,θ
I the angle for a rotation about an axis vector
I Quaternion [x , y , z, w ]
I 4D vectors that represent 3D rigid body orientations
I Unit quaternion: x 2 + y 2 + z 2 + w 2 = 1

Tools
python: Numpy, pyquaternion
c++: Eigen

17
https://en.wikipedia.org/wiki/Gimbal_lock
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Manipulator
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I A manipulator is considered as set of links connected by joints

I serial robots ( vs.parallel robots)
I Types of joints
I revolute joints
I prismatic joints

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Forward kinematics
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Movement depiction of the mechanical systems as fixed body chains

I Translate a series of joint parameters =⇒ cartesian pose of the end effector

Purpose
Absolute determination of the position of the end effector (TCP) in the cartesian
coordinate system

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Tool Center Point (TCP) description
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

Using a vector ~p , the TCP position is depicted.

Three unit vectors:

I ~a: (approach vector),
I ~o : (orientation vector),
I ~n: (normal vector)
specify the orientation of the TCP.

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Tool Center Point (TCP) description (cont.)
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

Thus, the transformation T consists of the following elements:

" #
~n ~o ~a ~p
T =
0 0 0 1

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Kinematics
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I Transformation regulation, which describes the relation between joint coordinates

of a robot q and the environment coordinates of the end effector x
I Solely determined by the geometry of the robot
I Base frame
I Relation of frames to one another
=⇒ Formation of a recursive chain
I Joint coordinates: 
θi : rotational joint
qi =
di : translation joint

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Kinematic equations
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

I In each link, a coordinate frame is attached

I A homogeneous matrix i−1 Ti depicts the relative translation and rotation between
two consecutive joints
I joint transition
I For a manipulator consisting of six joints:
I 0 T1 : depicts position and orientation of the first link with respect to the base
..
.
I 5 T6 : depicts position and orientation of the 6th link in regard to link 5
The resulting product is defined as:
0
T6 = T1 1 T2 2 T3 3 T4 4 T5 5 T6

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Kinematic description
Forward Kinematics - More on presentation of a rigid body Introduction to Robotics

Qn i−1
I Calculation of T6 = i=1 Ti , Ti short for Ti
I T6 defines, how n joint transitions describe 6 cartesian DOF
I Definition of one coordinate system (CS) per segment i
I generally arbitrary definition
I Determination of one transformation Ti per segment i = 1..n
I generally 6 parameters (3 rotational + 3 translational) required
I different sets of parameters and transformation orders possible

Solution
Denavit-Hartenberg (DH) convention

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Denavit-Hartenberg convention
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

I first published by Denavit and Hartenberg in 1955

I established principle
I determination of a transformation matrix Ti using four parameters
I link length, link twist, link offset and joint angle
(ai , αi , di , θi )

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Parameters for description of two arbitrary links
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

Two parameters for the description of the link structure i

I link length ai
I link twist αi

axis i

axis i-1

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Parameters for description of two arbitrary links
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

Two parameters for the description of the link structure i

I link length ai : shortest distance

between the axis i − 1 and the axis i
I link twist αi : rotation angle from
axis i − 1 to axis i in the
right-hand sense about ai

ai and αi are constant values due to axis i

construction
ai
axis i-1

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Parameters for describing two arbitrary links (cont.)
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

Two for relative distance and angle of adjacent links

I link offset di
I joint angle θi

axis i

axis i-1

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Parameters for describing two arbitrary links (cont.)
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

Two for relative distance and angle of adjacent links

I link offset di : the distance along

the common axis i − 1 from link
i − 1 to the link i
I joint angle θi : the amount of
rotation about the common axis
i − 1 between the link i − 1 and the
link i

θi and di are variable

I rotational: θi variable, di fixed
I translational: di variable, θi fixed

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DH Parameters summary
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

Four DH parameters:
link length, link twist, link offset and joint angle
(ai , αi , di , θi )
I 3 fixed link parameters
I one joint variable
I revolute: θi variable
I prismatic: di variable
I ai , αi : describe the link i
I di , θi : describe the link’s connection

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Right-Handed Coordinate System
Forward Kinematics - Denavit-Hartenberg convention Introduction to Robotics

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Definition of joint coordinate systems (classic)
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

Gelenk 3

x2
Gelenk 4
x3 z2
y3 y2
y4
z3
Gelenk 1
z4 x4
x1
Gelenk 2 y1 z1
z0

x0 y0

I axis zi−1 is set along the axis of motion of the i th joint

I axis xi is parallel to the common normal of zi−1 and zi (xi k (zi−1 × zi )).
I axis yi concludes a right-handed coordinate system
I CS0 is the stationary origin at the base of the manipulator

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DH Parameters
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

I link length ai : distance from zi−1 -axis

to zi -axis measured along xi -axis
I link twist αi : angle from zi−1 -axis to
zi -axis measured around xi -axis
I link offset di : distance from xi−1 to xi
measured along zi−1 -axis
I joint angle θi : joint angle from xi−1 to
xi measured around zi−1 -axis

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DH-Parameters and -Preconditions (classic)
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

Idea: Determination of the transformation matrix i−1 T using four joint parameters
i
(ai , αi , di , θi ) and two preconditions
Precondition 1 xi is perpendicular to zi−1
Precondition 2 xi intersects zi−1
α1
y1
z1 x1
a1 O1

d1
z0
y0

O0
x0 θ1
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Classic Parameters
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

Transformation order
i−1
Ti = Rzi−1 (θi ) · Tzi−1 (di ) · Txi (ai ) · Rxi (αi ) → CSi
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Frame transformation for two links (classic)
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

Creation of the relation between frame i and frame (i − 1) through the following
rotations and translations:
I Rotate around zi−1 by angle θi
I Translate along zi−1 by di
I Translate along xi by ai
I Rotate around xi by angle αi
Using the product of four homogeneous transformations, which transform the
coordinate frame i − 1 into the coordinate frame i, the matrix Ti can be calculated as
follows:
i−1
Ti = Rzi−1 (θi ) · Tzi−1 (di ) · Txi (ai ) · Rxi (αi ) → CSi

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Frame transformation for two links (classic) (cont.)
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

    
C θi −Sθi 0 0 ... 0 ... ai 1 0 0 0
i−1
 Sθi C θi 0 0 . . .
 0 . . . 0 0 C αi −Sαi 0
Ti = 
 0
  
0 1 0 . . . di  . . . 0  0 Sαi C αi 0
0 0 0 1 ... 1 ... 1 0 0 0 1

 
C θi −Sθi C αi Sθi Sαi ai C θi
 Sθi C θi C αi −C θi Sαi ai Sθi 
=
 0

Sαi C αi di 
0 0 0 1

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Modified Parameters
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

X
Transformation order
i−1
Ti = Rxi−1 (αi−1 ) · Txi−1 (ai−1 ) · Rzi (θi ) · Tzi (di ) → CSi
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Definition of joint coordinate systems: Exceptions
Forward Kinematics - Definition of joint coordinate systems Introduction to Robotics

Beware
The Denavit-Hartenberg convention is ambiguous!
α1
I zi−1 is parallel to zi y1
I arbitrary shortest normal z1 x1
I usually di = 0 is chosen a1 O1
I zi−1 intersects zi
d1
x0 z0
I usually ai = 0 such that θ1
CS lies in the intersection point O0
y0
I orientation of CSn ambigous, as no joint n + 1 exists
I xn must be a normal to zn−1
I usually zn is chosen to point in the direction of the approach vector ~a of the tcp

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Example DH-Parameter of a single joint
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

Determination of DH-Parameter (θ, d, a, α) for calculation of joint transformation:

T1 = Rz (θ1 )Tz (d1 )Tx (a1 )Rx (α1 )
joint angle rotate by θ1 around z0 , such that x0 is parallel to x1

 
cos θ1 − sin θ1 0 0
 sin θ cos θ1 0 0
1
Rz (θ1 ) = 
 
 0 0 1 0


0 0 0 1

for the shown joint configuration θ1 = 0◦

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Example DH-Parameter of a single joint (cont.)
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

link offset translate by d1 along z0 until the intersection of z0 and x1

 
1 0 0 0
0 1 0 0
Tz (d1 ) = 
 
0 0 1 d1 


0 0 0 1

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Example DH-Parameter of a single joint (cont.)
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

link length translate by a1 along x1 such that the origins of both CS are congruent

 
1 0 0 a1
0 1 0 0
Tx (a1 ) = 
 
0 0 1 0


0 0 0 1

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Example DH-Parameter of a single joint (cont.)
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

link twist rotate z0 by α1 around x1 , such that z0 lines up with z1

 
1 0 0 0
0 cos(α ) − sin(α ) 0
1 1
Rx (α1 ) =
 
0 sin(α1 ) cos(α1 ) 0


0 0 0 1
for the shown joint configuration, α1 = −90◦ due to construction

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Example DH-Parameter of a single joint (cont.)
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

I total transformation of CS0 to CS1 (general case)

0
T1 = Rz (θ1 ) · Tz (d1 ) · Tx (a1 ) · Rx (α1 )
 
cosθ1 −sinθ1 cosα1 sinθ1 sinα1 a1 cosθ1
 sinθ1 cosθ1 cosα1 −cosθ1 sinα1 a1 sinθ1 
= 
 0

sinα1 cosα1 d1 
0 0 0 1

I rotary case: variable θ1 and fixed d1 , a1 und (α1 = −90◦ )

0
T1 = Rz (θ1 ) · Tz (d1 ) · Tx (a1 ) · Rx (−90◦ )
 
cosθ1 0 −sinθ1 a1 cosθ1
 sinθ1 0 cosθ1 a1 sinθ1 
=  
 0 −1 0 d1 
0 0 0 1

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Procedure for predefined structure
Forward Kinematics - Example DH-Parameter of a single joint Introduction to Robotics

I Fixed origin: CS0 is the fixed frame at the base of the manipulator
I Determination of axes and consecutive numbering from 1 to n
I Positioning Oi on rotation- or shear-axis i,
zi points aways from zi−1
I Determination of normal between the axes; setting xi (in direction to the normal)
I Determination of yi (right-hand system)
I Read off Denavit-Hartenberg parameters
I Calculation of overall transformation

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Example DH-Parameter for Quickshot
Forward Kinematics - Example DH-Parameter for a manipulator Introduction to Robotics

x4
I Definition of CS corresponding to DH convention z4
I Determination of DH-Parameter
y4
x2
x3
z3
y2
z2 y3

x1
y1 z1
z0

x0 y0

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Example Transformation matrix T6
Forward Kinematics - Example DH-Parameter for a manipulator Introduction to Robotics

T6 = T1 · T2 · T3 · T4
− sin θ1 − sin θ2
  
cos θ1 0 20 cos θ1 cos θ2 0 160 cos θ2
 sin θ1 0 cos θ1 20 sin θ1   sin θ2 cos θ2 0 160 sin θ2 
= 
0 −1 0 100   0 0 1 0 ·
0 0 0 1 0 0 0 1
− sin θ4
  
cos θ3 0 sin θ3 0 cos θ4 0 0
 sin θ3 0 − cos θ3 0   sin θ4 cos θ4 0 0 
 0 1 0 28  0 0 1 250
0 0 0 1 0 0 0 1
cos θ1 cos θ4 (cos θ2 cos θ3 − sin θ2 sin θ3 ) − sin θ1 sin θ4
 
... ... ...
 sin θ1 cos θ4 (sin θ2 cos θ3 + cos θ2 sin θ3 ) + cosθ1 sin θ4 ... ... . . .
= 
− cos θ4 (sin θ2 cos θ3 + cos θ2 sin θ3 ) ... ... . . .
0 0 0 1

Sum-of-Angle formula
C23 = C2 C3 − S2 S3 ,
S23 = C2 S3 + S2 C3

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Mitsubishi PA10-7C
Forward Kinematics - Example featuring Mitsubishi PA10-7C Introduction to Robotics

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Robotic arm kinematic GUI from MRPT
Forward Kinematics - Example featuring Mitsubishi PA10-7C Introduction to Robotics

Download link

18

18
Mobile Robot Programming Toolkit, https://www.mrpt.org/MRPT_in_GNU/Linux_repositories
S. Li, J. Zhang 122 / 592
Programming implementation
Forward Kinematics - Example featuring Mitsubishi PA10-7C Introduction to Robotics

Write your own FK function!

I Robotics toolbox in Matlab

I the implementation of book “Robotics, Vision & Control” by Peter Corke
I PythonRobotics
I Python code collection of robotics algorithms, especially for autonomous navigation
I Robotics library
I C++ framework for robot kinematics, dynamics, motion planning, control
I pybotics
I provides a simple and clear interface to simulate and evaluate common robot concepts

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Forward Kinematics Introduction to Robotics

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