Kinematics Of Robots

(Position Analysis)
By
R. C. Saini
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Introduction
To determine where the robots hand is?

Forward Kinematic Equation

if all joint variable are

know, we can determine where the robots hand (Endeffector).

To calculate what each joint variable is?

Inverse Kinematic Equation

Calculate what each

joint variable must be in order to locate the hand at a
particular point and a particular orientation.
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ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
3 Dimensional, open loop and chain mechanisms

Fig. A one-degree-of-freedom closed-loop

four-bar mechanism

Fig. (a) Closed-loop versus (b) open-loop

mechanism

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MATRIX REPRESENTATION
Representation of a Point in Space
A point P in space : 3 coordinates relative to a reference frame

P a x i by j c z k
Fig. Representation of a point in
space

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MATRIX REPRESENTATION
Representation of a Vector in Space
A Vector P in space :

3 coordinates of its tail and of its head

__

P a x i by j c z k
x
y
__
P
z

w

Fig. Representation of a vector in

space

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W = scale factor

MATRIX REPRESENTATION
Representation of a Frame at the Origin of a FixedReference Frame
Each Unit Vector is mutually perpendicular : normal, orientation,
approach vector
nx ox a x
F n y o y a y
nz oz a z

Fig. Representation of a frame at the origin of the reference

frame
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MATRIX REPRESENTATION
Representation of a Frame in a Fixed Reference Frame
Each Unit Vector is mutually perpendicular : normal, orientation,
approach vector
nx
n
F y
nz

ox
oy
oz
0

ax
ay
az
0

Px
Py
Pz

Fig. Representation of a frame in a frame

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MATRIX REPRESENTATION
Representation of a Rigid Body
An object can be represented in space by attaching a frame to it
and representing the frame in space.
nx
n
y

Fobject
nz

ox
oy
oz
0

ax
ay
az
0

Px
Py
Pz

Fig. Representation of an object in space

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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.

nx
n
y

F
nz

ox
oy
oz
0

ax
ay
az
0

Px
Py
Pz

1
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REPRESENTATION OF
TRANSFORMATINS
A transformation is defined as making a movement in space.
A pure translation.
A pure rotation about an axis.
A combination of translation or rotations.

1
0
T
0

0
1
0
0

0
0
1
0

dx
d y
dz

Representation of a Pure Translation

Fig. Representation of an pure translation in

space
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REPRESENTATION OF
TRANSFORMATINS
Representation of a Pure Translation

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REPRESENTATION OF
TRANSFORMATINS
Representation of a Pure Rotation about an Axis

Assumption :

The frame is at the origin of the reference frame

and parallel to it.

Fig. Coordinates of a point in a rotating frame before and after

rotation.
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Fig. Coordinates of a point relative to the reference frame and

rotating frame as viewed from the x-axis.
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REPRESENTATION OF
TRANSFORMATINS
Representation of a Pure Rotation about an Axis

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REPRESENTATION OF
TRANSFORMATINS

Representation of a Pure Rotation about an Axis

Example--

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REPRESENTATION OF
TRANSFORMATINS
Representation of Combined Transformations
A number of successive translations and rotations.

Fig. Effects of three successive transformations

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Fig. Changing the order of transformations will change the final

result
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REPRESENTATION OF
TRANSFORMATINS
Representation of Combined Transformations

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REPRESENTATION OF
TRANSFORMATINS
Representation of Combined Transformations

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REPRESENTATION OF
TRANSFORMATINS
Representation of Combined Transformations
Relative to current frame

Point P [7, 3,1]

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INVERSE OF TRANSFORMATION
MATIRICES
Inverse of a matrix calculation steps :

Fig. The Universe, robot, hand, part, and end

effecter frames.

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INVERSE OF TRANSFORMATION
MATIRICES

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FORWARD AND INVERSE KINEMATICS

OF ROBOTS
Forward Kinematics Analysis:
Calculating the position and orientation of the hand of the
robot.
If all robot joint variables are known, one can calculate where
the robot is at any instant.

Fig. The hand frame of the robot relative to the reference

frame.
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FORWARD AND INVERSE KINEMATICS

OF ROBOTS
Forward and Inverse Kinematics Equations for Position
Forward Kinematics and Inverse Kinematics equation for
position analysis :
Cartesian (gantry, rectangular) coordinates.
Cylindrical coordinates.
Spherical coordinates.
Articulated (anthropomorphic, or all-revolute) coordinates.
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Forward and Inverse Kinematics Equations for

Position
Cartesian (Gantry, Rectangular) Coordinates
All actuator is linear.
A gantry robot is a Cartesian robot.

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TP Tcart

1
0

0
1
0
0

0
0
1
0

Px
Py
Pz

Fig. Cartesian Coordinates.

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Forward and Inverse Kinematics Equations for Position

Cylindrical Coordinates

TP Tcyl (r , , l ) Trans(0,0, l )Rot( z , )Trans( r ,0,0)

2 Linear translations and 1 rotation

translation of r along the x-axis
rotation of about the z-axis
translation of l along the z-axis

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C S 0 rC
S C 0 rS
R

TP Tcyl
0
0 1 l

0
0
0
1

Fig. 2.19 Cylindrical Coordinates.

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Forward and Inverse Kinematics Equations for

Position
Spherical Coordinates

2 Linear translations and 1 rotation

translation of r along the z-axis
rotation of about the y-axis
rotation of along the z-axis

TP Tsph ( r , , l ) Rot( z , )Rot( y , )Trans( 0,0, )

C C S S C rS C
C S C S S rS S
R

TP Tsph
S
0
C
rC

0
0
0
1

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Fig. Spherical Coordinates.

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Forward and Inverse Kinematics Equations for Position

Articulated Coordinates
3 rotations: Denavit - Hartenberg representation

Fig. Articulated Coordinates.

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FORWARD AND INVERSE KINEMATICS OF

ROBOTS
Forward and Inverse Kinematics Equations for
Orientation
Roll, Pitch, Yaw (RPY) angles
Euler angles
Articulated joints

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Forward and Inverse Kinematics Equations for Orientation

Roll, Pitch, Yaw(RPY) Angles

a
a
Roll: Rotationof
about
-axis (z-axis of the moving frame)
o
o
Pitch: Rotation of
about
-axis (y-axis of the moving
n
n
frame)
Yaw: Rotation of
about
-axis (x-axis of the moving
frame)

Fig. RPY rotations about the current axes.

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Forward and Inverse Kinematics Equations for

Orientation
Euler Angles

Rotation of

followed by

Rotation of
followed by
Rotation of

a
about
o
n
about

-axis (z-axis of the moving frame)

about

-axis (z-axis of the moving frame).

-axis (y-axis of the moving frame)

Fig. Euler rotations about the current axes.

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Forward and Inverse Kinematics Equations for

Orientation
Articulated Joints

Consult again slide no. 19.

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FORWARD AND INVERSE KINEMATICS OF

ROBOTS
Assumption : Robot is made of a Cartesian and an RPY set of joints.
R

TH Tcart ( Px , Py , Pz ) RPY (a , o , n )

Assumption : Robot is made of a Spherical Coordinate and an Euler angle.

R

TH Tsph ( r , , ) Euler ( , , )
Another Combination can be possible

Denavit-Hartenberg Representation

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DENAVIT-HARTENBERG REPRESENTATION
OF FORWARD KINEMATIC EQUATIONS OF
ROBOT
Denavit-Hartenberg 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 can be represented.

Fig. A D-H representation of a general-purpose joint-link combination

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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.

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DENAVIT-HARTENBERG
REPRESENTATION OF FORWARD
KINEMATIC EQUATIONS OF ROBOT

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).

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DENAVIT-HARTENBERG
REPRESENTATION OF FORWARD
KINEMATIC EQUATIONS OF ROBOT
Symbol Terminologies :

: A rotation about the z-axis.

d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
: The angle between two successive z-axes (Joint twist)

Only and d are joint variables.

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DENAVIT-HARTENBERG
REPRESENTATION OF FORWARD
KINEMATIC
EQUATIONS
OF
ROBOT

The necessary motions to transform from one reference frame to the

next.

1. Rotate about the zn-axis an able of n+1 (Coplanar).

2. Translate along zn-axis a distance of dn+1 to make xn and xn+1 colinear.
3. Translate along the xn-axis a distance of an+1 to bring the origins of xn+1

together.
4. Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis with zn+1-

axis.
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THE INVERSE KINEMATIC SOLUTION

OF ROBOT
Determine the value of each joint to place the arm at a
desired position and orientation.
R

TH A1 A2 A3 A4 A5 A6
C1 (C234C5C6 S 234S 6 ) C1 (C234C5C6 S 234C6 )

C
(
C
S
)

S
C
C
(
C
a

C
a

C
a
)
1
234
5
1
5
1
234
4
23
3
2
2
S S C

S
1 5 6
1 S 5C6

S
(
C
C
C

S
S
)
S
(

C
C
C

S
C
)
1
234
5
6
234
6
1
234
5
6
234
6

S1 (C234S 5 ) C1C5 S1 (C234a4 C23a3 C2 a2 )

C1S5C6

C1S 5C6
S 234C5C6 C234S 6
S 234C5C6 C234C6
S 234S 5
S 234a4 S 23a3 S 2 a2

0
0
0
1

nx
n
y

nz

ox
oy
oz
0

ax
ay
az
0

px
p y
pz

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THE INVERSE KINEMATIC SOLUTION

OF
ROBOT
n o a p
x

py

p
x

n o a p
y
y
y
y
1
A11[ RHS ] A2 A3 A4 A5 A6
A1
nz oz a z p z

0
0
0
1

1 tan 1

2 tan 1

(C3 a3 a2 )( p z S 234a4 ) S3 a3 ( p x C1 p y S1 C234a4 )

(C3 a3 a2 )( p x C1 p y S1 C234a4 ) S3 a3 ( Pz S 234a4 )

S3

C3

3 tan 1
C1
0

S1
0
C1

S1

0 0

nx
n
y

1 0

0 0 nz

0 1 0

ox

ax

oy

ay

oz

az

px

p y
A2 A3 A4 A5 A6

pz

4 234 2 3

5 tan 1

C234 (C1a x S1a y ) S 234a z

S1a x C1a y

6 tan 1

S 234 (C1nx S1n y ) S 234nz

S 234 (C1ox S1o y ) C234oz

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INVERSE KINEMATIC PROGRAM OF

ROBOTS
A robot has a predictable path on a straight line, Or an unpredictable
path on a straight line.
A predictable path is necessary to recalculate joint variables.(Between 50 to 200
times a second)
To make the robot follow a straight line, it is necessary to break the line into
many small sections.
All unnecessary computations should be eliminated.
Fig. Small sections of movement for straight-line motions

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DEGENERACY AND DEXTERITY

Degeneracy : The robot looses a degree of freedomand thus cannot perform as
desired.
When the robots joints reach their physical limits, and as a result, cannot move any
further.
In the middle point of its workspace if the z-axes of two similar joints becomes colinear.
Dexterity
: The volume of points where one can
position the robot as
desired, but not orientate it.

Fig. An example of a robot in a degenerate posi

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THE FUNDAMENTAL PROBLEM WITH D-H REPRESENTATION

Defect of D-H presentation : D-H cannot represent any
motion about the y-axis, because all motions are about the
x- and z-axis.
TABLE THE PARAMETERS TABLE FOR THE
STANFORD ARM

Fig. The frames of the Stanford Arm.

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-90

d1

90

d1

-90

90

0
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Thank You
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