Professional Documents
Culture Documents
(Position Analysis)
By
R. C. Saini
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Introduction
To determine where the robots hand is?
ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
3 Dimensional, open loop and chain mechanisms
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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 :
__
P a x i by j c z k
x
y
__
P
z
w
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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
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
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
HOMOGENEOUS TRANSFORMATION
MATRICES
A transformation matrices must be in square form.
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
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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 :
REPRESENTATION OF
TRANSFORMATINS
Representation of a Pure Rotation about an Axis
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REPRESENTATION OF
TRANSFORMATINS
Example--
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REPRESENTATION OF
TRANSFORMATINS
Representation of Combined Transformations
A number of successive translations and rotations.
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
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INVERSE OF TRANSFORMATION
MATIRICES
Inverse of a matrix calculation steps :
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INVERSE OF TRANSFORMATION
MATIRICES
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21
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TP Tcart
1
0
0
1
0
0
0
0
1
0
Px
Py
Pz
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C S 0 rC
S C 0 rS
R
TP Tcyl
0
0 1 l
0
0
0
1
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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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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)
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Rotation of
followed by
Rotation of
followed by
Rotation of
a
about
o
n
about
about
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TH Tcart ( Px , Py , Pz ) RPY (a , o , n )
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.
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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
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DENAVIT-HARTENBERG
REPRESENTATION OF FORWARD
KINEMATIC EQUATIONS OF ROBOT
Symbol Terminologies :
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DENAVIT-HARTENBERG
REPRESENTATION OF FORWARD
KINEMATIC
EQUATIONS
OF
ROBOT
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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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
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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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
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
6 tan 1
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40
-90
d1
90
d1
-90
90
0
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Thank You
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