Robot Kinematics

Position Analysis
Robot Link & Joint
 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-loop
(a) Closed-loop versus (b) open-loop mechanism
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  axiˆ  by ˆj  cz kˆ

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 : scale factor
 w
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 x ox ax Px 
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 frame in space.
n x ox ax Px 
n oy ay Py 
Foject  y
nz oz az Pz 
 
0 0 0 1
n.o  0 n 1

n.a  0 o 1
Fig. 2.8 Representation of an object in a.o  0 a 1
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 match.
(Column No of First should be the same as Row No of
second)
n x ox ax Px 
n oy ay 
Py 
F  y
nz oz az Pz 
 
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
z x 1 0 d y 
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
n o 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 
Pz
 y 
L4  Pz  0 sin  cos    Pa 
y
Pxyz  R( x, ) xPnao
L1 L2
Py

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
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
1
A   Ajk  
detA detA  ... ... ... ... 
 
 A1n A2 n ... Ann 

• Determinant
• Transpose
• Minor, Cofactor
• Unit matrix
• Gauss-Jordan Elimination
2.6 INVERSE OF TRANSFORMATION
MATIRICES

known, unknown

U
TE  UTR RTH HTE  UTP 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  UTR1 UTP PTE HTE1  RTU UTP 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.

 nx ox ax Px   nx ny 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 
 Joints

Illustration of revolute and prismatic joints

 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 n 1c n 1 c n 1s n 1 an 1s n 1 
An 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
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
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)
Boston DYNAMICS: BigDog

• Gasoline engine &

hydraulic actuator
• 1 m L x 0.7 m H, 75
Kg
• 4 mph, climb slope
up to 35 deg. Carry
340 lb
• Sensor : Joint
position, Force,