ROBOT

KINEMATICS
Understanding the Mechanics of
Robotic Movement

PRESENTED BY
SHYJU SUSAN
MATHEW
(MAR BASELIOS COLLEGE OF
ENGG. & TECHNOLOGY, TVM.)
C0NTENTS
➢ Introduction to robot ➢ SINGULARITIES
kinematics ➢ Applications of Robot
➢ Why is robot kinematics Kinematics
important in robotics? ➢ CONCLUSION
➢ Types of kinematics
➢ Kinematic chains
➢ Work space analysis
➢ Jacobian matrix

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INTRODUCTION TO
ROBOT KINEMATICS
Robot kinematics focuses on studying the motion of
robots by analyzing position, velocity, and acceleration
without considering forces. It is crucial for precise control
in tasks like manipulation, navigation, and assembly.
By providing accurate movement models, kinematics
plays a vital role in designing, simulating, and optimizing
robots for advanced applications such as industrial
automation, surgery, and space exploration.

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Why is Robot Kinematics Important in
Robotics?
Precise Control: Core Operations: Design & Advanced
Simulation: Applications:
Ensures accurate Facilitates manipulation,
movements in navigation, and precise Helps engineers Enables complex
robotic arms and assembly processes. predict robot systems like surgical
mobile robots, behavior, robots, space
crucial for tasks like reducing real- missions, and
assembly. world errors and autonomous vehicles
enhancing to operate efficiently.
performance.
TYPES OF KINEMATICS
Forward Kinematics (FK)
Inverse Kinematics (IK)
Forward Kinematics (FK)
• Forward kinematics involves calculating the position and orientation of a robot's end-
effector (e.g., gripper or tool) based on the known parameters of its joints (angles for
rotational joints or distances for prismatic joints).

• How it works:
FK uses the robot's kinematic model, which includes link lengths, joint types, and
configurations, to determine where the end-effector will be.
❖ For instance, if a robotic arm has specific joint angles, FK determines where the
arm's tip will be in space.

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Forward kinematics (FK) determines the position and orientation of a robot's end-effector
(the tool or gripper at the robot's tip) based on the known variables of its joints, such as
joint angles for rotational joints or displacements for prismatic joints.

• Input: Joint parameters (e.g., angles or lengths).

• Output: The exact position and orientation of the end-effector in a coordinate

system.

FK uses a kinematic model of the robot, which includes details about link lengths, joint
types, and joint positions. This makes it possible to calculate how the robot will behave in
different configurations.

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Forward Kinematics (FK)
Mathematical Representation:
Forward kinematics relies on mathematical tools like transformation matrices to map the
motion of each joint into a global coordinate system.

1. Transformation Matrices:
• Each joint's motion is described by a matrix that accounts for rotation and translation.
• The transformation matrix for a link combines both rotational and translational
movements.

2. Homogeneous Transformations for 3D Representation:

• Homogeneous transformation matrices are 4x4 matrices that combine 3D rotation
and translation into a single mathematical framework.
• These matrices make it easier to compute the cumulative motion across multiple
links.
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Mathematical Representation

Example of a 4x4 transformation matrix:

𝑅 𝑑
T=
0 1

Where RRR is the 3x3 rotation matrix, and ddd is the translation vector.

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Example: FK for a 2-Joint Planar Robotic Arm
Consider a simple planar robotic arm with two links (L1 and L2) connected by rotational joints.
The goal is to find the position of the end-effector based on the angles of the joints (θ1 and θ2).

• Define Joint Angles and Link Lengths:

Link 1: Length L1, angle θ1.
Link 2: Length L2, angle θ2(relative to the first link).

• Compute Position of the End-Effector:

Using trigonometry:
x=L1cos(θ1​)+L2cos(θ1​+θ2​)
y=L1sin(θ1)+L2sin(θ1+θ2)

• Output:
The position (x,y)of the end-effector is calculated in the plane.

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Forward Kinematics (FK)
Advantages:
•Easier to compute since it uses direct
mathematical relationships.
•Useful for simulation and design purposes.

Challenges:
•While computation is straightforward, interpreting
the results intuitively in complex robots with many
joints can be difficult.

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Inverse Kinematics (IK)
• Inverse kinematics is the process of determining the required joint parameters (angles
or distances) to achieve a specific position and orientation for the end-effector.

• How it works:
IK starts with the desired location of the end-effector and calculates the joint
movements needed to reach it. This process often involves solving non-linear
equations.

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Inverse kinematics (IK) calculates the joint variables (e.g., angles for rotational joints or
distances for prismatic joints) required for a robot’s end-effector to reach a desired position
and orientation in space.

• Input: Desired position and orientation of the end-effector.

• Output: The set of joint parameters needed to achieve this configuration.

• IK is essentially the reverse of forward kinematics and is vital for executing tasks like
grasping objects or following a trajectory.

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Inverse Kinematics (IK)
Advantages:
•Critical for task execution, like picking up an object
or drawing a specific path.

Challenges:
•Computationally complex and can have multiple
solutions, or no solution, depending on the robot's
constraints.
•Often solved using numerical methods or iterative
techniques.
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Techniques for Solving IK

1. Analytical Methods:

• Used for simpler robotic systems where equations can be solved explicitly.

• Provide exact solutions by breaking down the problem using geometric or algebraic
techniques.

• Example: Solving IK for a 2-joint planar robotic arm.

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Techniques for Solving IK
2. Iterative Numerical Approaches:

• Used for more complex robots with higher DOF.

• These methods approximate solutions through iterative computations, often leveraging

Jacobian matrices:
o Jacobian-Based Methods: Use the Jacobian matrix to relate joint velocities to end-
effector velocities and iteratively adjust joint variables to minimize the error between
the desired and current end-effector positions.
o Example: Newton-Raphson or Gradient Descent techniques.

• Advantages: Can handle robots with complex kinematics.

• Challenges: May converge slowly, get stuck in local minima, or fail if the solution is
singular (i.e., Jacobian becomes non-invertible).
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 Definition:
A kinematic chain is a sequence of
rigid links (solid components)

Kinematic connected by joints that allow

movement between them. These
Chains chains form the structure of a robot
and determine how it moves and
performs tasks.

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Types of Joints
Joints in a kinematic chain allow relative motion between connected links. The two
most common types are:

1. Revolute (Rotational) Joints:

• Allow rotation around a fixed axis.
• Example: Elbow joint in a robotic arm, which rotates to change the arm's
position.

2. Prismatic (Linear) Joints:

• Allow sliding or translational motion along a straight line.
• Example: A sliding platform in a robot that moves back and forth.

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Open vs. Closed Kinematic Chains:
Open Chain Closed Chain

• Has one free end and one fixed base. • Forms a closed loop with no free ends.

• Movement is simpler and sequential, often • Offers more stability and precision but is
seen in robotic arms. mechanically more complex.

• Example: An industrial robotic arm used for

assembly or welding. • Example: Delta robots, often used in pick-
and-place operations.

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 WORKSPACE ANALYSIS
Definition:
The workspace of a robot refers to the set of all positions and orientations that
its end-effector can reach. It represents the physical boundary within which
the robot can operate effectively and perform tasks.

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Factors Influencing Workspace:

Link Lengths: Joint Limits: Type of Joints:

➢ Longer links ➢ Each joint has ➢ Revolute (rotational)

generally increase physical or joints create circular or
the reach of the operational limits spherical workspaces.
robot, expanding (e.g., maximum and ➢ Prismatic (linear) joints
its workspace. minimum rotation produce straight-line
angles or linear motion, leading to
➢ Example: A robotic movement). cuboidal or planar
arm with extended workspaces.
segments can ➢ These limits restrict ➢ Robots with mixed joint
cover a larger the robot's motion types (e.g., SCARA or
area. and reduce the articulated robots)
workspace. have unique
workspaces depending
on their configurations.
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VISUALIZATION OF WORKSPACES:

2D Workspace Examples:
For a 2-joint planar robotic arm with revolute joints:

• The workspace appears as a circular area

determined by the combined reach of the
links.
• If the joints have angular limits, the
workspace becomes a segment of the circle .

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VISUALIZATION OF WORKSPACES:

3D Workspace Examples:
• For an articulated robot arm with multiple
degrees of freedom:
The workspace forms a 3D volume, such as a
sphere, cylinder, or more complex shapes,
depending on joint arrangements and
constraints.

• Example: A robotic arm with a wrist mechanism

may have a spherical or toroidal workspace,
depending on how the joints rotate.

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 What is the ?

JACOBIAN MATRIX
The Jacobian matrix is a mathematical tool that describes the
relationship between the velocities of a robot's joints and the resulting
linear and angular velocities of the end-effector.

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What is the Jacobian?

Definition: Purpose:

The Jacobian is a matrix of partial It serves as a bridge between

derivatives, expressing how small changes joint space (controlled by
in joint variables (e.g., joint angles or actuators) and Cartesian space
displacements) affect the motion of the (where the end-effector
end-effector in Cartesian space. operates).

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Applications of the Jacobian Matrix:

Motion Planning:

•The Jacobian is used to calculate the trajectory of the end-effector by determining how
joint velocities translate into desired movements.
•Example: Ensuring smooth and accurate paths for a robotic arm.

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Singularity Analysis:
•A singularity occurs when the Jacobian
becomes non-invertible (determinant = 0).
•At singularities, the robot loses certain
degrees of freedom, causing issues like
reduced control or infinite joint velocities.
•Jacobian analysis helps avoid singular
configurations.

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Force Control:

• The Jacobian relates forces and torques at the end-effector to

the torques required at each joint.
• This is crucial for tasks requiring precise force application, such
as gripping fragile objects or performing surgical procedures.

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 SINGULARITIES
Definition:
Singularities in robotics are specific configurations
of a robot where it loses certain degrees of
WANT BIG IMPACT? freedom or control. At these points, the robot may

USE BIG IMAGE. encounter problems such as the inability to move

in certain directions or requiring infinite joint
velocities or forces to maintain motion.
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TYPES OF SINGULARITIES
Kinematic Singularities Static Singularities

• Occur when the Jacobian matrix

becomes non-invertible, meaning • Occur when the robot’s end-
its determinant is zero. effector cannot exert forces or
torques in certain directions, even
• This results in the robot losing the though it can still move.
ability to move in some directions.
• This happens when the Jacobian
• Example: In a robotic arm, a transpose becomes singular,
singularity might occur when the leading to poor force control.
arm is fully extended, aligning all
joints in a straight line, reducing the
effective degrees of freedom.

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Implications of Singularities:

1. Loss of Motion Control:

• The robot cannot move its end-effector in certain directions within

its workspace, limiting its functionality.
• Example: A robotic arm may fail to follow a planned trajectory if a
singularity is encountered.

2. Infinite Forces or Velocities:

• Near singularities, small movements in the Cartesian space may

require very large joint velocities or forces, which are physically
unachievable.
• This can cause instability or damage to the robot.

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Applications of
Robot Kinematics

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1. Industrial Automation:

Example:
Robotic arms used in
assembly lines for
manufacturing and
packaging.

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2. Medical Robotics:

Example:
Surgical robots like the da Vinci system.

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3.Aerospace:

Example:
Robotic arms on spacecraft,
such as the Canadarm used on
the Space Shuttle.

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4.Entertainment:

Example:
Animatronics in
theme parks and
movies.

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CONCLUSION
Robot kinematics plays a crucial role in the design and operation of robotic systems,
enabling precise control and movement. Forward kinematics (FK) and inverse
kinematics (IK) are essential for determining end-effector positions and joint
movements, ensuring accuracy and efficiency in tasks. Kinematics is fundamental to
various applications, from industrial automation to medical robotics and beyond.
Looking ahead, advancements in real-time control algorithms and the integration of AI
and machine learning will further enhance robotic systems, making them more
adaptive, intelligent, and capable of handling complex, dynamic environments.

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THANK YOU