Robotics

Dr. Omar Salah Eldin Mahmoud

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 Outline
 Introduction to Robot Kinematics

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 Introduction to Robot Kinematics
Example - The PUMA 560

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3

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1
There are two more
joints on the end
effector (the gripper)
The PUMA 560 has SIX revolute joints
A revolute joint has ONE degree of freedom ( 1 DOF) that is
defined by its angle
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Basic joints

Revolute Joint
1 DOF ( Variable - Ɵ)

Prismatic Joint
1 DOF (linear) (Variables - d)

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 Introduction to Robot Kinematics
We are interested in two kinematics topics
Forward Kinematics (angles to position)
What you are given: The length of each link
The angle of each joint

What you can find: The position of any point

(i.e. it’s (x, y, z) coordinates

Inverse Kinematics (position to angles)

What you are given: The length of each link
The position of some point on the robot

What you can find: The angles of each joint needed to obtain
that position

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Quick Math Review
Matrix Multiplication:
An (m x n) matrix A and an (n x p) matrix B, can be multiplied since
the number of columns of A is equal to the number of rows of B.
Non-Commutative Multiplication
AB is NOT equal to BA

a b   e f  ae  bg  af  bh

c d    g  
h  ce  dg  cf  dh
  

Matrix Addition:
a b   e f   a  e  b  f 
c d    g  
h  c  g  d  h
  

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Quick Math Review
Dot Product: a x 
a 
Geometric Representation:  y
b x 
A  B  A B cosθ A b 
θ  y
Matrix Representation: B

a x  b x 
A  B        a xb x  a y b y
a y  b y 

Unit Vector
Vector in the direction of a chosen vector but whose magnitude is 1.
B
uB 
B B
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 Introduction to Robot Kinematics
Quick Math Review
A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P  ax i  by j  cz k

Representation of a point in space

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Representing position
• Definition: coordinate frame
A set n of orthonormal basis vectors spanning Rn
For example, 1 0 0
iˆ  0, ˆj  1, kˆ  0
0 0 1

• When representing a point p, we need to specify a coordinate frame

With respect to o0: 5
p   0
With respect to o1: 6 

 2.8
p1   
 4.2 

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Rotations
• 2D rotations
– Representing one coordinate frame in terms of another


R10  x10 y10 
– Where the unit vectors are defined as:

cos  sin 
R10  
 sin cos 

– This is a rotation matrix

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Rotations
• Rotation matrices as projections
– Projecting the axes of from o1 onto the axes of frame o0

 xˆ1  xˆ 0  0  yˆ1  xˆ 0 
x 
0
, y 1   ˆ ˆ 
ˆ  ˆ y1  y 0 
1
 1 0
x y

 xˆ1  xˆ 0 yˆ1  xˆ 0 
R 
0

 xˆ1  yˆ 0 yˆ1  yˆ 0 
1

   
 xˆ1 xˆ 0 cos yˆ1 xˆ 0 cos  
  2 
 xˆ yˆ  
cos    yˆ1 yˆ 0 cos  
 1 0 2  
cos  sin 

 sin cos 

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Properties of rotation matrices
• Inverse rotations:
 xˆ  xˆ yˆ 0  xˆ1 
R01   0 1 
 xˆ 0  yˆ1 yˆ 0  yˆ1 
  
 ˆ
x 0
ˆ
x 1 cos  yˆ 0 xˆ 1 cos   
  2 
 xˆ yˆ cos    yˆ 0 yˆ1 cos  
 0 1
 2 
 cos  sin 
   R 0 T
 
 sin cos  
1

• Or, another interpretation uses odd/even properties:

cos    sin  
R01   
 sin   cos   
 cos sin 

cos 
 R 0
 T

 sin
1

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Properties of rotation matrices
• Inverse of a rotation matrix:
1
 xˆ1  xˆ 0 yˆ1  xˆ 0 
R 
0 1
 
 xˆ1  yˆ 0 yˆ1  yˆ 0 
1

1
   
 xˆ1 xˆ 0 cos yˆ1 xˆ 0 cos  
  2 
 xˆ yˆ cos     yˆ1 yˆ 0 cos 
 1 0 2  
1
cos  sin   cos sin 

cos 

1
   sin   R10  
T

 sin det R10  cos 

• The determinant of a rotation matrix is always ±1

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Properties of rotation matrices

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3D rotations
• General 3D rotation:

 xˆ1  xˆ0 yˆ1  xˆ0 zˆ1  xˆ0 

R10   xˆ1  yˆ 0 yˆ1  yˆ 0 zˆ1  yˆ 0   SO3
 xˆ1  zˆ0 yˆ1  zˆ0 zˆ1  zˆ0 

• Special cases
Basic rotation matrices
1 0 0 
R x ,  0 cos   sin 
0 sin cos  
 cos  0 sin  cos   sin  0
Ry ,   0 1 0  Rz ,   sin  cos  0
 sin 0 cos    0 0 1

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Example

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Rotational transformations
• Now assume p is a fixed point on the rigid object with fixed coordinate frame
o1
The point p can be represented in the
frame o0 (p0) again by the projection onto  p1  xˆ 0 
 
the base frame p 0   p1  yˆ 0 
 p1  zˆ0 
 
uxˆ1  vyˆ1  wzˆ1   xˆ 0 
 uxˆ1  vyˆ1  wzˆ1   yˆ 0 
 uxˆ1  vyˆ1  wzˆ1   zˆ0 
uxˆ1  xˆ 0  vyˆ1  xˆ 0  wzˆ1  xˆ 0 
 uxˆ1  yˆ 0  vyˆ1  yˆ 0  wzˆ1  yˆ 0 
 uxˆ1  zˆ0  vyˆ1  zˆ0  wzˆ1  zˆ0 
 xˆ1  xˆ 0 yˆ1  xˆ 0 zˆ1  xˆ 0   u 
  xˆ1  yˆ 0 yˆ1  yˆ 0 zˆ1  yˆ 0   v   R10 p1
u   xˆ1  zˆ0 yˆ1  zˆ0 zˆ1  zˆ0  w 
p   v 
1

w 

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Rotating a vector
• Another interpretation of a rotation matrix:
Rotating a vector about an axis in a fixed frame
Ex: rotate v0 about y0 by /2
0
v 0  1
1

v 1  Ry , / 2v 0
 cos  0 sin  0
  0 1 0    1
 
 sin 0 cos     / 2  1
 0 0 1 0 1
  0 1 0 1  1
 1 0 0 1 0

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Rotation matrix summary
• Three interpretations for the role of rotation matrix:
1. Representing the coordinates of a point in two different frames
2. Orientation of a transformed coordinate frame with respect to a fixed
frame
3. Rotating vectors in the same coordinate frame

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Compositions of rotations
• w/ respect to the current frame
Ex: three frames o0, o1, o2
p 0  R10 p1
p1  R21 p 2 p0  R10R21p2 R20  R10R21
p 0  R20 p 2
• This defines the composition law for successive rotations about the current
reference frame: post-multiplication

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Rotations
• Ex: R represents rotation about the current y-axis by f followed by  about
the current z-axis
R  Ry ,f Rz,
 cos f 0 sinf  cos   sin 0  cos f cos   cos f sin sinf 
  0 1 0   sin cos  0   sin cos  0 
 sinf 0 cos f   0 0 1  sinf cos  sinf sin cos f 

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Rotations
• w/ respect to a fixed reference frame (o0)
Let the rotation between two frames o0 and o1 be defined by R10
Let R be a desired rotation w/ respect to the fixed frame o0
Using the definition of a similarity transform, we have:


R20  R10 R10 
1

RR10  RR10
• This defines the composition law for successive rotations about a fixed
reference frame: pre-multiplication

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Rotations
• Ex: we want a rotation matrix R that is a composition of f about y0 (Ry,f) and
then  about Z0 (RZ,)
the second rotation needs to be projected back to the initial fixed frame
R20  R y ,f  Rz , R y ,
1

 R y , f Rz , R y ,f

Now the combination of the two rotations is:

 
R  R y ,f R y , f Rz , R y ,f  Rz , R y ,f

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Example

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Example

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Parameterizing rotations
• There are three parameters that need to be specified to create arbitrary rigid
body rotations
We will describe three such parameterizations:
1. Euler angles
2. Roll, Pitch, Yaw angles

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Euler angles
Rotation by f about the z-axis, followed by  about the current y-axis, then
y about the current z-axis
cf  sf 0  c 0 s  cy  sy 0
RZYZ  Rz,f Ry , Rz,y  sf cf 0  0 1 0  sy cy 0
 0 0 1  s 0 c   0 0 1
cf c cy  sf sy  cf c sy  sf cy cf s 
 
 sf c cy  cf sy  sf c sy  cf cy sf s 
  s cy s sy c 


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Roll, Pitch, Yaw angles
Three consecutive rotations about the fixed principal axes:
• Yaw (x0) y, pitch (y0) , roll (z0) f

R XYZ  Rz,f Ry , R x,y

cf  sf 0  c 0 s  1 0 0 
 
 sf cf 0  0 1 0  0 cy  sy 
 0 0 1  s 0 c  0 sy cy 
cf c  sf cy  cf s sy sf sy  cf s cy 
 
 sf c cf cy  sf s sy  cf sy  sf s cy 
  s c sy c cy 
 

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Homogeneous transforms

• We can represent rigid motions (rotations and translations) as matrix

multiplication
– Define: R10 d10 
H 
0
1 
0 1
R21 d 21 
H 
1
2 
 0 1

– Now the point p2 can be represented in frame o0: P 0  H10H21P 2

– Inverse transforms:

1 RT  RT d 
H  
0 1 

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Basic transforms
– Three pure translation, three pure rotation

1 0 0 a 1 0 0 0
0 0 c 0
1 0 0  s
Trans x ,a  Rot x ,  
0 0 1 0 0 s c 0
   
0 0 0 1 0 0 0 1
1 0 0 0  c 0 s 0
0 1 0 b   0 1 0 0
Trans y ,b  Rot y , 
0 0 1 0  s  0 c 0
   
0 0 0 1  0 0 0 1
1 0 0 0 c  s 0 0
0 s 0
1 0 0 c 0
Trans z,c  Rot z,  
0 0 1 c 0 0 1 0
   
0 0 0 1 0 0 0 1

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Example

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Example
• Compute the homogeneous transformation representing a translation of
3 units along the x-axis followed by a rotation of /2 about the current z-
axis followed by a translation of 1 unit along the fixed y-axis
T  Ty ,1Tx ,3Tz, / 2
1 0 0 0  1 0 0 3 0  1 0 0
0 1 0 1 0 1 0 0  1 0 0 0

0 0 1 0 0 0 1 0 0 0 1 0
   
0 0 0 1 0 0 0 1 0 0 0 1
1  1 0 3
1 0 0 1

0 0 1 0
 
0 0 0 1

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