Unit-III: Introduction to

Kinematics and Dynamics

Part-1
Lecture - 4
Kinematics - Introduction
• Kinematics
• Study of motion and pose of the rigid body or system of bodies
• Describes the pose and velocity of the objects
• Not concert about the force applied and dynamics
• Robot Kinematics
• Relationship between a robot's joint coordinates and its spatial layout
• Analyze only the instantaneous values of the robot's coordinates
• Ignores their movement under forces and torques (Dynamics)

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Kinematics - Example

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Kinematics – End-Effector
• Assumption
• Fixed Speed of Operation
• Compensation of Payload
• Negligible force at End-Effector

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Dynamics - Introduction
• Dynamics
• the branch of mechanics concerned with the
motion of bodies under the action of forces
• Robot Dynamics
• studies the relation between robot motion and
forces and moments acting on the robot
• rigid-body dynamics to robots
• Considers the inertia parameters of the robot
structures (Characteristics of materials used for
robot)

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Position and Orientation Representation
• Robot (Rigid Body) in 3D Space is represented by,
• Position - Translation (Cartesian coordinates)
• Orientation - Rotation (Angular coordinates)
• Position Representation
• In 3D Space - [𝑥, 𝑦, 𝑧] – 3 Parameters
• In 2D Space - [𝑥, 𝑦] – 2 Parameters
• Orientation Representation
• In 3D Space – Roll, Pitch, Yaw - 3 Parameters
• In 2D Space - Heading – 1 Parameter
• All represented against a fixed reference coordinate system (Fixed
frame)
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Fixed and Moving Frames

Moving/Robot Frame

Fixed/World Frame

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Position Representation

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Orientation Representation
• Objects/Rigid Body will have orientations

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Rotation Matrix in 2D space/w.r.t one axis

𝑥′ 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃 𝑥
=
𝑦′ 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 𝑦

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2D Transformation - Problem
• Problem1: Translate the point A(1,2) by (5,4) units
• Problem2: Translate the point B(3,1) by 10 units along 45 Deg
• Problem3: Determine the location of the new point P’ when a point
P(2,4) is rotated by 30 Deg about Z-axis
• Problem4: Determine the location of the new point Q’ when a point
Q(-2,6) is rotated by 45 Deg and Translated by (6,4) units

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Problem-1
• Problem1: Translate the point A(1,2) by (5,4) units
• Solution:
𝑥′ 𝑥 𝑇𝑥
• = 𝑦 + 𝑇
𝑦′ 𝑦
𝑥′ 1 5 1+5 6
• = + = =
𝑦′ 2 4 2+4 6

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Problem-2
• Problem2: Translate the point B(3,1) by 10 units along 45 Deg
• Solution2:
• Given Data: Translation – 10 , Heading 45 Deg
𝑥′ 𝑥 𝑇 cos 𝜃
• = 𝑦 +
𝑦′ 𝑇 sin 𝜃
𝑥′ 3 10 cos 45 3 7.0711 10.0711
• = + = + =
𝑦′ 1 10 sin 45 1 7.0711 8.0711

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Problem-3
• Problem3: Determine the location of the new point P’ when a point
P(2,4) is rotated by 30 Deg
• Solution3:
𝑥′ 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃 𝑥
• =
𝑦′ 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 𝑦
𝑥′ 𝑐𝑜𝑠30 −𝑠𝑖𝑛30 2 0.8660 −0.5 2 −0.2679
• = = =
𝑦′ 𝑠𝑖𝑛30 𝑐𝑜𝑠30 4 0.5 0.8660 4 4.4641

• 𝑃′(−0.2679,4.4641)

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Problem-4 – Composite Transformation
• Problem4: Determine the location of the new point Q’ when a point
Q(-2,6) is rotated by 45 Deg and Translated by (6,4) units
• Solution4:
𝑥′ cos 𝜃 − sin 𝜃 𝑇𝑥 𝑥
• 𝑦′ = sin 𝜃 cos 𝜃 𝑇𝑦 𝑦
1 0 0 1 1
𝑥′ cos 45 − sin 45 6 −2 0.3431
• 𝑦′ = sin 45 cos 45 4 6 = 6.8284
1 0 0 1 1 1
• 𝑄′(0.3431,6.8284)
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Work Space Geometry - Robot
• Robot Work Space - The workspace of
robot manipulator is defined as the set of
points that can be reached by its
end‐effector
• Each point on workspace describes the
position and orientation of the robotic
arm and its end-effector
• For Planar Robot – 2D Workspace
• For Robot Manipulator – 3D Workspace

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Pose of a Robot
• Robot (Rigid Body) Pose in 3D Space
• Translation - Three Cartesian coordinates
• Rotation - Three angular coordinates
• Robot Pose Provides information on the position of
• Links of the manipulator
• Tools (End-effector)
• Workpiece
• Pose or configuration of Robot is defined w.r.t fixed reference
coordinate system – Fixed frame
• Robot is considered as moving frame – to define the pose of
workpiece
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Frame of References - Example

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Rigid Body

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Position of a Rigid Body

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Position of a Rigid Body – Contd.

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Orientation of a Rigid Body

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Orientation of a Rigid Body – Contd.

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Orientation – Direction Cosines

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Orientation – Direction Cosines

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Orientation: Example - 1

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Orientation – Properties of Rotation Matrix

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Problem
• Problem1: Given a point P(3,2,-1) is rotated by 30 Deg about Y-axis
• Problem2: Given a point Q(1,2,1) is rotated by 45 Deg clockwise (-ve
rotation) w.r.t X-axis
• Problem3: Rotate a point R(3,2,-4) is rotated by 180 Deg in anti-
clockwise (+ve rotation) w.r.t Z-axis

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Composite Rotation – Euler Angle
Representation
• Rotation along XYZ axis

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Composite Rotation – MATLAB
Implementation

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Problem – Euler Angles
• Problem: Given a composite rotation Q have ZYZ rotation. Determine
the Euler angles

• Solution: Compare with Euler Rotation Matrix

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Homogenous Transformation

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Homogenous Transformation
• Position of a rigid body in space –
expressed w.r.t Origin of Reference
(Fixed) Frame
• In Robots,
• Sensors are mounted on the mobile robot
• Observations are w.r.t moving frame
(robot)
• Need for transformation of observations
from moving to reference frames -
Homogenous Transformation

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Homogenous Transformation Matrix
• Homogenous Transformation Matrix - Unified matrix describing the
orientation and translation transformation between frames

• Example: Rotation w.r.t Z-axis

𝑥𝐹 𝐶𝜃 −𝑆𝜃 0 𝑇𝑥 𝑥𝑀
𝑦𝐹 𝑆𝜃 𝐶𝜃 0 𝑇𝑦 𝑦𝑀
𝑧𝐹 = 𝑧𝑀
0 0 1 𝑇𝑧
1 0 0 0 1 1

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Homogenous Transformation Matrix
Pure Translation Pure Rotation
• Problem: Determine the • Problem: Determine the
Homogenous Transformation Homogenous Transformation
Matrix to translate the frames by Matrix to rotate the frames by 30
(0,2,1) Deg about Z-axis
Solution: Set Rotation matrix to Solution: Translation vector to zero
Unity

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Homogenous Transformation Matrix - Problem
• Problem-1: Consider a point P (2,3,1) which is rotated by 30 Deg
along Z-axis and translated by 2 units and -1 unit along Y and Z-axis
respectively
• Problem-2: Determine the Homogenous Transformation Matrix to
transform a point P in the moving frame [M] to the fixed frame [F]
which rotated by 45 Deg along Y-axis and translated by (2,5,-1) units

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Problem-1 – Solution
• Problem-1: Consider a point P (2,3,1) which is rotated by 30 Deg along Z-
axis and translated by 2 units and -1 unit along Y and Z-axis respectively
• Solution-1: 𝜃 = 30 , 𝑇𝑦 = 2, 𝑇𝑧 = −1

𝑥𝐹 𝐶𝜃 −𝑆𝜃 0 𝑇𝑥 𝑥𝑀 𝐶30 −𝑆30 0 0 2 𝑥𝐹

𝑦𝐹 𝑆𝜃 𝐶𝜃 0 𝑇𝑦 𝑦𝑀 𝑆30 𝐶30 0 2 3 = 𝑦𝐹
𝑧𝐹 = 𝑧𝑀 = 𝑧𝐹
0 0 1 𝑇𝑧 0 0 1 −1 1
1 0 0 0 1 1 0 0 0 1 1 1

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Problem-2 – Solution
• Problem-2: Determine the Homogenous Transformation Matrix to
transform a point P in the moving frame [M] to the fixed frame [F]
which rotated by 45 Deg along Y-axis and translated by (2,5,-1) units
• Solution: 𝑅𝑜𝑡 𝑌, 45 𝑇𝑟𝑎𝑛𝑠(2,5, −1)

𝐶𝜃 0 𝑆𝜃 𝑇𝑥 𝐶45 0 𝑆45 2 0.7071 0 0.7071 2

𝐹 0 1 0 𝑇𝑦 0 1 0 5 = 0 1 0 5
𝑀 𝐻 = =
−𝑆𝜃 0 𝐶𝜃 𝑇𝑧 −𝑆45 0 𝐶45 −1 −0.7071 0 0.7071 −1
0 0 0 1 0 0 0 1 0 0 0 1

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Composite Rotation
• More than one transformation of
Frames – Serial Link Manipulator
• Multiplication of homogenous
transformation matrix is non
commutative
• Hence, matrix multiplication order is
important

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Non commutative property of Transformation
Matrix

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Composite Rotation – Matrix Multiplication
Order
• Transformation w.r.t moving frame
• Other names – local frame/current frame
• Representation – UWV or xyz or n-o-a
• Matrix Multiplication Order – Post-multiplied
• Transformation w.r.t fixed frame
• Other names – world frame/reference frame
• Representation – XYZ
• Matrix Multiplication Order – Pre-multiplied

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Composite Rotation - Problem
• Problem: A P (4,3,-2) attached to the local frame has to be translated as described in the
following transformations
(i) Rotate the point by 90 Deg with respect to Y-axis
(ii) Rotate the point by -180 Deg along x-axis of local frame
Solution:
1. Determine the Homogenous Transformation Matrix
(i) Rotate the point by 90 Deg with respect to Y-axis - 𝑅 𝑌, 90
(ii) Rotate the point by -180 Deg along x-axis of local frame - r(𝑥, −180)
2. Find the matrix multiplication order
(i) Global Frame – Pre Multiplication
(ii) Local Frame – Post Multiplication

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Composite Rotation – Problem – Cnt..
Step-1 Define transformation matrix
𝐻 = 𝑅(𝑌, 90)
Step-2 Post-multiply the second rotation w.r.t local frame
𝐻 = 𝑅 𝑌, 90 r 𝑥, −180
Step-3 Define transformation matrix
𝐶90 0 𝑆90 0 1 0 0 0
𝐻= 0 1 0 0 0 𝐶 − 180 −𝑆 − 180 0
−𝑆90 0 𝐶90 0 0 𝑆 − 180 𝐶 − 180 0
0 0 0 1 0 0 0 1
Step 4 Multiply the point P by transformation matrix
𝑃′ = 𝐻𝑃
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Composite Rotation – Problem – Cnt..
• Composite Transformation Matrix is given by
0 0 −1 0
𝐻 = 0 −1 0 0
−1 0 0 0
0 0 0 1

The transformed point

′
is given by
𝑥 0 0 −1 0 4 2
′
𝑦
𝑃′ = ′ = 0 −1 0 0 3 = −3
𝑧 −1 0 0 0 −1 −4
1 0 0 0 1 1 1
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Composite Rotation – Practice Problem
• Problem: 1 A P (4,3,-2) attached to the local frame has to be
translated as described in the following transformations
• (i) Rotate the point by 90 Deg with respect to Y-axis 𝑅(𝑌, 90)
• (ii) Translate the point by 5 Units with respect to y-axis of local frame
𝑡(0,5,0)
• (iii) Rotate the point by -90 Deg with respect to Z-axis 𝑅(𝑍, −90)
• (iv) Rotate the point by 180 Deg with respect to x-axis of local
frame 𝑟(𝑥, 180)
• Find the coordinates of the translated point P’.

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Composite Rotation – Practice Problem -
Solution
• Matrix multiplication order
Step-1: 𝐻 = 𝑅(𝑌, 90)
Step-2: 𝑡(0,5,0) – Local Frame – Post-multiply
𝐻 = [𝑅(𝑌, 90)𝑡(0,5,0)]
Step-3: 𝑅(𝑍, −90) – Global Frame - Pre-multiply
𝐻 = 𝑅 𝑍, −90 [𝑅 𝑌, 90 𝑡 0,5,0 ]
Step-4: 𝑟(𝑥, 180) – Local Frame – Post-multiply
𝐻 = [𝑅 𝑍, −90 𝑅 𝑌, 90 𝑡 0,5,0 ]𝑟(𝑥, 180)
Step-5: Multiply the point P by H to get P’
𝑃′ = 𝐻𝑃
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Composite Rotation – Practice Problem
• Problem 2: A P (7,3,1) attached to the n-o-a frame has to be
translated as described in the following transformations
• (i) Rotate the point by 90 Deg about Z-axis - 𝑹(𝒁, 𝟗𝟎)-Pre-multiply
• (ii) Translate the point by (4,-3,7) Units along n-o-a axis (xyz) -
𝒕(𝟒, −𝟑, 𝟕) – Post-multiply
• (iii) Followed by a rotate of 90 Deg about the o-axis (y-axis) - 𝒓 𝒚, 𝟗𝟎
- Post-multiply
• Find the coordinates of the translated point P’.

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Composite Rotation – Practice Problem –
Solution - 2
• Step-1 H = 𝑹 𝒁, 𝟗𝟎
• Step-2 𝒕(𝟒, −𝟑, 𝟕) – Post-multiply (Local axis)
H = [𝑹 𝒁, 𝟗𝟎 𝒕(𝟒, −𝟑, 𝟕)]
Step-3 𝒓 𝒚, 𝟗𝟎 - Post-multiply (Local axis)
H = 𝑹 𝒁, 𝟗𝟎 𝒕 𝟒, −𝟑, 𝟕 𝒓 𝒚, 𝟗𝟎
Step-4 Given point P(4,3,-2)
P’=HP

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Composite Rotation – Practice Problem -3
• Problem 3: A frame B was rotated about the X-axis by 90 Deg
(𝑹 𝑿, 𝟗𝟎 − 𝑷𝒓𝒆 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚), then it is translated about the
current a-axis (z-axis) by 3 inches (t 𝟎, 𝟎, 𝟑 − 𝑷𝒐𝒔𝒕 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚),
before it was rotated about the Z-axis by 90 Deg. (𝑹 𝒁, 𝟗𝟎 − 𝑷𝒓𝒆 −
𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚) Finally, it was translated about the current o-axis (y-axis)
by 5 inches. (t 𝟎, 𝟓, 𝟎 − 𝑷𝒐𝒔𝒕 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚) Find the transformation
of the point Q(1,5,4) attached to the frame B to the reference frame.

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Composite Rotation – Practice Problem –
Solution - 3
• Step-1 𝑹 𝑿, 𝟗𝟎 − 𝑷𝒓𝒆 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚 − 𝑮𝒍𝒐𝒃𝒂𝒍 𝒂𝒙𝒊𝒔
𝑯 = 𝑹 𝑿, 𝟗𝟎
Step-2 t 𝟎, 𝟎, 𝟑 − 𝑷𝒐𝒔𝒕 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚 − 𝑳𝒐𝒄𝒂𝒍 𝒂𝒙𝒊𝒔
𝑯 = [𝑹 𝑿, 𝟗𝟎 𝒕(𝟎, 𝟎, 𝟑)]
Step-3 𝑹 𝒁, 𝟗𝟎 − 𝑷𝒓𝒆 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚 − 𝑮𝒍𝒐𝒃𝒂𝒍 𝒂𝒙𝒊𝒔
𝑯 = 𝑹 𝒁, 𝟗𝟎 [𝑹 𝑿, 𝟗𝟎 𝒕(𝟎, 𝟎, 𝟑)]
Step-4 t 𝟎, 𝟓, 𝟎 − 𝑷𝒐𝒔𝒕 − 𝒎𝒖𝒍𝒊𝒕𝒑𝒍𝒚 − 𝑳𝒐𝒄𝒂𝒍 𝒂𝒙𝒊𝒔
𝑯 = 𝑹 𝒁, 𝟗𝟎 𝑹 𝑿, 𝟗𝟎 𝒕 𝟎, 𝟎, 𝟑 𝒕 𝟎, 𝟓, 𝟎
Step-5 Q(1,5,4)
𝑸′ = 𝑯𝑸
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Discussions….

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