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Robotics (EL-422) Spring 22 Part 4

The document discusses forward and inverse kinematics in robotics, focusing on calculating the location and orientation of a robot's end effector using known joint data. It includes practical examples and equations for both Cartesian and cylindrical robots, as well as the Denavit-Hartenberg (DH) parameterization method for stationary robots. The document serves as a handout for an electronic engineering course on robotics.

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Mehwish Aleem
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6 views18 pages

Robotics (EL-422) Spring 22 Part 4

The document discusses forward and inverse kinematics in robotics, focusing on calculating the location and orientation of a robot's end effector using known joint data. It includes practical examples and equations for both Cartesian and cylindrical robots, as well as the Denavit-Hartenberg (DH) parameterization method for stationary robots. The document serves as a handout for an electronic engineering course on robotics.

Uploaded by

Mehwish Aleem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1

Robotics (EL-422)
Handouts No. 4
Teacher:
Dr. Syed Riaz un Nabi Jafri

Spring 22
Department of Electronic Engineering
NED UET
2
Forward Kinematics
kinema (movement, motion)
Calculating location and orientation of robot
hand by using known joints data is known as
(forward) Kinematics
Cartesian robot

3
Forward Kinematics
Cylindrical robot

4
Forward Kinematics
If end effector could rotate along last local frame then we
need its reflection into kinematic representation

So final representation for Cartesian robot is:

For any other robot, we can write in same style


5
Forward Kinematics
Case Study: Consider a robotic arm having following
sequence of motion. If point P(1,1,0) is attached with local
end effector, please calculate its final coordinates when
both angles are equal to 30 degrees and both links are
equal to 10 units

6
Forward Kinematics
% A point on a local frame
P_vec = [0;0;0];
P_noa = [1;1;0;1] % point on frame
P_vec = [P_vec,P_noa(1:3)];
plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-rs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on;
% first rotation
% thz1=45*pi/180; % angle change of 45 degree
% Rot_z1 = [cos(thz1) -sin(thz1) 0 0; sin(thz1) cos(thz1) 0 0; 0 0 1 0; 0 0 0 1]
% P_xyz = Rot_z1 * P_noa
% P_vec = [0;0;0];
% P_vec = [P_vec,P_xyz(1:3)];
% plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-bs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
% xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on;
% adding first link
% trans1=[1 0 0 5; 0 1 0 0; 0 0 1 0; 0 0 0 1];
% thz1=45*pi/180; % angle change of 45 degree
% Rot_z1 = [cos(thz1) -sin(thz1) 0 0; sin(thz1) cos(thz1) 0 0; 0 0 1 0; 0 0 0 1];
% P_vec = [0;0;0];
% P_noa = [1;1;0;1] % point on frame
% P_vec = [P_vec,P_noa(1:3)];
% plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-rs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
% xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on;
% P_xyz = Rot_z1*trans1*P_noa;
% P_vec = [0;0;0];
% P_vec = [P_vec,P_xyz(1:3)];
% plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-bs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
% xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on;
% adding second link and rotation
% trans2=[1 0 0 5; 0 1 0 0; 0 0 1 0; 0 0 0 1];
% thz2=45*pi/180; % angle change of 45 degree
% Rot_z2 = [cos(thz2) -sin(thz2) 0 0; sin(thz2) cos(thz2) 0 0; 0 0 1 0; 0 0 0 1];
% trans1=[1 0 0 5; 0 1 0 0; 0 0 1 0; 0 0 0 1];
% thz1=45*pi/180; % angle change of 0 degree
% Rot_z1 = [cos(thz1) -sin(thz1) 0 0; sin(thz1) cos(thz1) 0 0; 0 0 1 0; 0 0 0 1];
% P_vec = [0;0;0];
% P_noa = [1;1;0;1] % point on frame
% P_vec = [P_vec,P_noa(1:3)];
% plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-rs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
% xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on;
% P_xyz = Rot_z1*trans1*Rot_z2*trans2*P_noa;
% P_vec = [0;0;0];
% P_vec = [P_vec,P_xyz(1:3)];
% plot3(P_vec(1,:),P_vec(2,:),P_vec(3,:),'-bs','LineWidth',2, 'MarkerEdgeColor','k', 'MarkerFaceColor','g', 'MarkerSize',10)
% xlabel('X'); ylabel('Y'); zlabel('Z'); grid on; axis equal; hold on; 7
asd=0;
Inverse Kinematics
Calculating joints data by using known location and
orientation of robot hand is known as inverse
Kinematics

1 0 0 3
0 0.707 -0.707 5 Last location and orientation
0 0.707 0.707 7
0 0 0 1
of Cartesian robot

A set of derived equations are available for finding joint angles

8
Inverse Kinematics

9
DH parameterization for Stationary robots
DH parameterization for Stationary robots
DH parameterization for Stationary robots
DH parameterization for Stationary robots
DH parameterization for Stationary robots
DH parameterization : example of a 2D
robotic arm
DH parameterization : example of a 2D
robotic arm
DH parameterization : example of a 2D
robotic arm
DH parameterization : example of a 3D
robotic arm

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