Robot Kinematics

ROBOT KINEMATICS
Outline
Design of Robot Manipulators
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Kinematics
Degrees of Freedom
Types of Kinematics
Homogeneous Transformations
Geometric Approach
Forward and Inverse Kinematics of Planar and Spatial Robots
Algebraic Approach (D-H Representation)

Forward and Inverse Kinematics of Planar and Spatial Robots
Case Studies
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INDUSTRIAL ROBOTICS TECHNOLOGY, PROGRAMMING AND
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Design of Robot manipulators

Depends upon
Application
Configuration
Work Volume
Payload
Inertia Force
Centre of Gravity
Speed
Kinematics
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WORK VOLUME or WORK ENVELOPE:
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The space within which the robot can manipulate its wrist end is known as work
volume.This avoids the complication of different sizes of end effectors that might
be attached to robots wrist.This is determined by the following physical
characteristics
of the
robot. configuration, Size of the body,arm and
Robots
Physical
wrist components,The limits of robots joint movement
According to physical configuration ,a robot is

classified as
WORK VOLUME
Spherical
Cylindrical
Cartesian or Rectangular
Partial sphere
Cylinder
CONFIGURATION
Jointed arm
Cylindrical
Cartesian
Polar
SCARA
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Payload
Plays a vital role in the design of manipulators
It is the load carried by the robot at the wrist
end of the robot when its arm is fully
stretched or fully extended
It includes the end effector weight also
The Payload to Weight ratio should be in the
ratio of 1:200
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Inertia force
Another important parameter influencing the
design & performance of robot
Depends upon the payload,speed and
acceleration of the robot while in motion
It always acts in the direction opposite to that
of the motion of the manipulator
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Centre of Gravity
It is the point where the entire weight of the
robot is said to be concentrated
Plays a important role in the design of
manipulators especially in Bipedal robots,
humanoid robots and articulated robots
Depends upon the weight of the links,
actuators, joints, transmission elements and
payload
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Speed
It is defined as how quickly the robot will
move from one position to the next
Higher speed affects the stability of the robot
Pneumatic actuators give maximum speed
compared to hydraulic and electrical actuators
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Dynamics
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It is the branch of physical science which deals with

bodies which are in motion
Divided into
Kinetics
Kinematics
Kinetics deals with the inertia force of the body

Both play vital role in the area of robotics
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Kinematics
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It is the branch of dynamics which deals with the

relative motion existing between members
Motion of one body with respect to another body
Relative Position
Relative Motion
Relative Velocity
Relative Acceleration
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Planar and Spatial Robots
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Planar
The robots configured in such a way that the
workspace of the robot is limited to a plane are called
as planar robots
Spatial Robots
The robots whose end effector has access to any point
in space (of course limited to the work volume)
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Degrees of freedom
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Degree of Freedom is the number of independent

relative motion in the form of translation and rotation
The body in space has got the maximum of 6 degrees
of motion(3 translatory & 3 rotary motions)

Each Translatory has 1 DOF and each Rotary has 1 DOF
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Degrees of freedom
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Positioning
Positioning the end effector in the 3D space, requires three DoF,
either obtained from rotations or translations
Reference
frame origin
x
y
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Degrees of freedom
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Orientation
Orienting the end effector in the 3D space, requires three additional
DoF to produce the three rotations.
roll
tilt
pan
Reference
frame origin
x
y
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Basic Joints
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Rotational Joint
1 DOF
Prismatic
Joint
1 DOF
(linear)
Twist Joint
1 DOF
3 DOF
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Revolving
Joint
1 DOF
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Degrees of Freedom of Robots
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An Example - The PUMA 560
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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Types of Kinematics
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Homogenous Transformation
A matrix H will be considered such that an operator which
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transforms a point (attached with a frame) or a vector X, into

another point or vector then
Y=HX
If Y is a 4x1 column matrix and H, a 4x4 column matrix and 4x1
column matrix then y is obtained by pre-multiplying the X column
matrix by a 4x4 transformation matrix H.
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Translation
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We define the translation and transformation as

Trans (a, b, c) as the operator that moves the
point defined by the original vector X to a new
point Y whose location is given by vector

addition of X and translation1vector
by
0 0 defined
a
the component (A, B, C). The0matrix

by
1 0is bdefined
H
0 0 1 c
Trans (a, b, c)
=
0 0 0 1
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Rotation Matrices in 3D
Homogeneous Representation
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Rotation around the XAxis
Rotation around the Y-Axis
Rotation around the ZAxis

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Homogenous Transformation in 3D
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H is a 4x4 matrix that can describe a translation,

0 0 or
Px
1 rotation,
0 1 0 P
both in one matrix O
y
H
0 0 1 Pz
0 0 0 1
Y
N
P
A
X
Translation without
rotation
N
X
Z
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Rotation without
translation INDUSTRIAL ROBOTICS -
Rotation part:
Could be rotation around z-axis, x-axis,
y-axis or a combination of the three.
n x
n
H y
n z
TECHNOLOGY, PROGRAMMING AND
ox
oy
ax
ay
oz
0
az
0
0
0
0
1
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An Important Point to Remember
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The rotation and translation part can be combined

into a single homogeneous matrix IF and ONLY IF
both are relative to the same coordinate frame.
Generally defined with Respect to the so called

World Reference Frame, usually placed at the base of
the Robot
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Forward and Inverse kinematics

of robot for position
Forward Kinematics
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The Situation:
You have a robotic arm that starts out
with the xo-axis.
You tell the first link to move by
the second link to move by 2.
aligned
1 and
The Quest:
What is the position of the

robotic arm?
end of the
Solution:
Geometric Approach
This might be the easiest solution for the simple situation. However, notice
that the angles are measured relative to the direction of the previous link.
(The first link is the exception. The angle is measured relative to its initial
position.) For robots with more links and whose arm extends into 3
dimensions the geometry gets much more tedious.
Algebraic Approach
Involves coordinate transformations.
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Types of robot co ordinates
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One may position a point in space based on the

following co ordinates
Cartesian (rectangular or Gantry)

Cylindrical
Spherical
Articulated
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Cartesian Co ordinate
There are 3 linear movements along the 3
major axes (X,Y,Z)
Positioning of the hand of the robot is
accomplished by moving the 3 linear joints
along the 3 axes
The transformation matrix representing the
motion to a point P is a simple Translational
transformation matrix since there are no
rotations
Cartesian Co ordinate
o
z
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a
P
Pz
y
Px
Py
X
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The transformation matrix representing the forward kinematic

equation of the position of the hand of the robot in cartesian
co ordinate system will be
RT =
P
Where RTP = Transformation between the

reference frame and the origin of the hand P
CYLINDRICAL CO ORDINATES
It includes 2 linear translation & 1 rotation .

The sequence is ,
A translation of r along x axis.
A rotaion of along Z axis.
A translation of l along Z axis.
The total transformation caused by the three transformation that relates the origin of hand
frame to the reference frame is obtained as,
RT
p = T cyl ( r,,l) = Trans (0,0,l) Rot ( Z, ) Trans (r,0,0)
C S 0 rC
RT
S C 0 rS
p=
Where Px = r cos ; Py = r sin ; Pz = l.
CYLINDRICAL CO ORDINATES
n
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a
P
l
SPHERICAL CO-ORDINATES
This system consists of 1 linear & 2 rotations.
The sequence is ,
A translation of r along Z axis.

A rotation of along Y axis.
A rotation of along Z axis.
The total transformation caused by the three transformation is

RT
p = T sph ( r, , ) = Rot ( Z, ) Rot (y, ) Trans (0,0,r)
RT
p=
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RTp =
First three columns represents the orientation of the frame and last column
Represent the position of the origin.
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One DOF Planar Robot

Direct Kinematics
L Link Length
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x = L . cos
y = L . Sin
= Angle of
Rotation
(x, y)
Inverse Kinematics
L . sin
=
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tan-1(y/x)
x
L . cos
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Two DOF Planar Robot Direct

Kinematics
y = L1 . sin1 + L2 . sin(1+ 2)
L2 . sin(1+ 2)
x = L1 . cos1 + L2 . cos(1+ 2)
(x, y)
L1 .
sin1
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1
x
L1 .
cos1
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L2 . cos(1+ 2)
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Two DOF Planar Robot - Inverse

Kinematics
INVERSE KINEMATICS
Position of end of arm in world
space in link vectors
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Kinematics
Squaring on both sides and adding
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Kinematics
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Also
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Two DOF Robot(spatial) TR

Configuration
The direct kinematics
Forward Kinematics
equations of the TR
robot configuration are
X = [L1 cos] cos
Y = L1 sin
Z = [L1 cos] sin
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X, Y, Z
z
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Inverse Kinematics
Tan = (Z/X)
Sin = (Y/ L)
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Three DOF TRR Configuration Robot

Direct Kinematics
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Three DOF TRR Configuration Robot

Direct Kinematics
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The direct kinematic equations of the TRR

robot configuration are
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Three DOF TRL Configuration Robot

Direct Kinematics
The direct kinematics equations of TRL configuration
robot is
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90 -
L1 sin
X, Y, Z
x
z
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X = (L1cos + Lsin) cos

Y = L1sin - Lcos)
Z = (L1cos + Lsin)sin
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Four DOF TRLR Configuration Robot

Direct Kinematics
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Four DOF TRLR Configuration Robot

Direct Kinematics
The direct kinematic equations of the TRLR
robot configuration
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The Denavit-Hartenberg
Transformation
In 1955 Denavit and Hartenberg published a paper in ASME journal
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which was later used to represent and model robots and to derive
their equations of motion.
The method can be used for any robot configuration, regardless of
its sequence or complexity

Although the direct modeling is straight forward, it is important to
understand D-H representation because many techniques (such as
calculation of Jacobian, force analysis) have been developed for use

with its results.
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D-H Representation
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D-H Representation
Rotate about the z-axis an angle of n+1. This will make xn and xn+1
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parallel to each other. This is true because an and an+1 are both
perpendicular to zn and rotating zn an angle of n+1 will make them
parallel (and thus coplanar)
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D-H Representation
Translate along the zn-axis a distance of dn+1 to make xn and
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xn+1 collinear. Since xn and xn+1 were already parallel and

normal to zn, moving along zn will lay them over each other.
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D-H Representation
Translate along the xn-axis a distance of an+1 to
bring the origins of xn and xn+1 together. At this
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point, the two origins of the two reference frames

will be at the same location.
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D-H Representation
Rotate zn-axis about xn+1 axis an angle of
n+1 to align zn-axis with zn+1-axis. At this
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point frames n and n+1 will be exactly the

same and we will have transformed from
one frame to the next.
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D-H Representation
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The general transformation matrix by D-H is

given by
Cn 1 Sn 1Cn 1 Sn 1Sn 1 an 1Cn 1
Sn 1 Cn 1Cn 1 Cn 1Sn 1 an 1Sn 1
An 1
0
Sn 1
Cn 1
dn 1
0
0
0
1
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D-H Representation
So in general once we know the individual
transformations, the total transformation
between the base of the robot and the hand will
be
Where n is the joint number.

For a six DOF robot, there will be six A matrices.
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Direct Kinematics of(Planar) 1DoF R

y
#
Kinematics
d
a
Configuration
X, Y, Forward
1
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L1
L1
General D-H transformation matrix

An 1
0
Sn 1
Cn 1
dn 1
0
0
0
1
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C1 S 1
S 1 C1
A1
0
0
0
0
0 C1L1
0 S 1L1
1
0
0
1
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Two DOF Planar Robot Direct

Kinematics
d
a
L11
L22
(x, y)
C1 S 1
S 1 C1
A1
0
0
0
0
0 C1L1
0 S 1L1
1
0
0
1
C 2 S 2
S 2 C2
A2
0
0
0
0
0 C 2 L 2
0 S 2 L 2
1
0
0
1
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1
x
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Transformation between base and hand is RTH =

A1A2
(C1C 2 S 1S 2) (C1S 2 S 1C 2)
( S 1C 2 C1S 2) ( S 1S 2 C1C 2)
A1 A2
0
0
0
0
0 (C1C 2 L 2 S 1S 2 L 2 C1L1)
0 ( S 1C 2 L 2 C1S 2 L 2 S 1L1)
1
0
0
1
n x
n
H y
n z
The above matrix is in the form

0
ox
ax
oy
ay
oz
az
Px
Py
Pz
Px = L2(C1C2- S1S2) + L1C1

Py = L2(S1C2 +C1S2) +L1S1
Pz = 0
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Frame Assignments
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TRR Configuration robot forward

kinematics using D-H matrix
General D-H transformation matrix

An 1
0
Sn 1
Cn 1
dn 1
0
0
0
1
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D-H Representation of a 3DOF TRR

configuration Robot
x3
D-H Parameters
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C 1
S1
A1
0
S1
0 C1
0
0
C 2 S 2
S 2 C2
0
A2
0
0
0
1
0
0
0 C 2 L1
C 3 S 3
S 3 C3
0 S 2 L1
A3
0
0
1
0
0
0
1
0
0 C 3 L 2
0 S 3 L 2
1
0
0
1
C1C 2 C1S 2 S 1 C1C 2 L1

S 1C 2 S 1S 2 C1 S 1C 2 L1
A1 A2
S2
C2
0
S 2 L1
0
0
0
1
Total transformation between the base of the robot and the

hand is RTH=
C1C 2 C1S 2 S 1 C1C 2 L1
S 1C 2 S 1S 2 C1 S 1C 2 L1
A1 A2 A3
S2
C2
0
S 2 L1
0
0
0
1
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C 3 S 3
S 3 C3
0
0
0
0
0 C 3 L 2
0 S 3 L 2
1
0
0
1
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(C1C 2C 3 C1S 2 S 3) (C1C 2 S 3 C1C 3 S 2) S 1 (C1C 2C 3 L 2 C1S 2S 3 L 2 C1C 2 L1)

( S 1C 2C 3 S1S 2 S 3) ( S 1S 3C 2 S 1S 2C 3) C1 ( S 1C 2C 3 L 2 S 1S 2 S 3 L 2 S 1C 2 L1)
A1 A2 A3
( S 2C 3 C 2 S 3)
( S 2 S 3 C 2C 3)
0
( S 2C 3 L 2 C 2 S 3 L 2 S 2 L1)
0
0
0
1
n x
The above matrix is in the form n y
H
n z
ox
ax
oy
ay
oz
az
Px
Py
Pz
Px= [L2(C2C3-S2S3) +C2L1]C1

PY = [L2(C2C3-S2S3) +S2L1]S1
PZ = L2(S2C3+C2S3) +S2L1
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D-H Representation of a 6DOF Robot

Frame Assignments
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Frame Assignments
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D-H Parameters
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Transformation Matrices
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D-H Representation
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The final transformation matrix is

given by
Note for the sake of simplicity the following

trignometric function is used
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Matrix Inversion
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The following steps are taken for calculating the inverse

of a matrix
Calculate the determinant of the matrix
Transpose the matrix
Replace each element of the transposed matrix by its own
minor (adjoint matrix)
Divide the adjoint matrix by the determinant

A-1 = adj [A] / det [A]
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Matrix Inversion - Example
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Consider
1
Rot (x, ) 0
0
0
cos
sin
sin
cos
0
1. Applying the process to the rotation matrix

for finding the value of
= 1(cos2 + sin2 )+0 = 1
2. Transpose the rotation
0
0
1 matrix
Rot (x, ) 0
0
T
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cos
sin
sin
cos
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Matrix Inversion - Example
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Matrix Inversion Alternative Method
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Inverse Kinematics of a 2DOF RR Robot
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L1
L2
To find the set of angles,

the position and orientation of
the end effector is given in a
n x o x a x Px
matrix of the form
ny
H
n z
oy
ay
oz
az
Py
Pz
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C1 S 1
S 1 C1
A1
0
0
0
0
C 2 S 2
S 2 C2
A2
0
0
0
0
0 C1L1
0 S 1L1
1
0
0
1
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(C1C 2 S 1S 2) (C1S 2 S 1C 2)
( S 1C 2 C1S 2) ( S 1S 2 C1C 2)
A1 A2
0
0
0
0
0 C 2 L 2
0 S 2 L 2
1
0
0
1
0 (C1C 2 L 2 S 1S 2 L 2 C1L1)
0 ( S 1C 2 L 2 C1S 2 L 2 S 1L1)
1
0
0
1
To solve for the angles we will successfully premultiply the two matrices starting with
A1-1
A1-1
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n x
n
y
n z
ox
ax
oy
ay
oz
az
Px
Py
Pz
(A1-1) (A1A2)

APPLICATIONS
A2
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To find A1-1
C1 S 1
S 1 C1
AT
0
0
0
0
0 C1L1
0 S 1L1
1
0
0
1
P..n = Px.nx + Py.ny+Pz.nz

P.o = Px.ox + Py.oy+Pz.oz
P.a = Px.ax+Py.ay+Pz.az
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n x
o
1
H
x
a x
ny
nz
oy
oz
ay
az
C1 S 1
S 1 C1
A1
0
0
0
0

APPLICATIONS
P.n
P.o
P.a
0 L1
0 0
1 0
0 1
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C1 S 1
S 1 C1
0
0
0
0
0 L1
0 0
1 0
0 1
n x
n
y
n z
ox
ax
oy
ay
oz
az
Px
Py
Pz
C 2 S 2
S 2 C2
0
0
0
0
0 C 2 L 2
0 S 2 L 2
1
0
0
1
axC1 ay S 1 PxC1 PyS 1 L1

nxC1 nyS 1 oxC1 oy S 1
n S 1 nyC1 oxS 1 o C1 a S 1 a C1 PxS 1 PyC1
y
x
y
x
nz
oz
az
Pz
0
0
0
1
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axC1+ayS1=0
-axS1+ayC1=0
nxC1+nyS1=C2
oxC1+oyS1= -S2
PxC1+PyS1-L1=C2L2
-PxS1+PyC1=S2L2
-nxS1+nyC1=S2
-oxS1+oyC1=C2
Pz=0
az=1
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(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)

APPLICATIONS
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To
Find
The
value
of
theta
2
Concider eqn no. (5)& eqn. no (6)
PxC1+PyS1-L1=C2L2 (5)
(PxC1+PyS1) = (C2L2-L1)
(A)
( -PxS1+PyC1)=S2L2
(B)
Squaring both sides and adding eqn (A)& (B)
(PxC1+PyS1)2 = (C2L2-L1)2
( -PxS1+PxC1) 2 = (S2L2) 2
Px2 +Py2 = L12 + L22 +2L1L2C2
From the above equation
C2 =
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Px2 +Py2 - L12 + L22 / 2L1L2

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To find the value of theta 1

Concider eqn no. (5)
PxC1+PyS1-L1=C2L2 (5)
Divide eqn.(5) by C1
Px+PyS1/C1 -L1/C1 = C2 L2 /C1
Px = C2 L2 /C1 -PyS1/C1 + L1/C1
Substituting (A) in eqn.(6)
-PxS1+PyC1=S2L2
(6)
-(C2 L2 /C1 -PyS1/C1 + L1/C1) S1+PyC1=S2L2
Multiply eqn. (B) by C1
-(C2 L2 PyS1 + L1) S1+PyC12=S2L2C1
-(C2 L2S1 PyS12 + L1S1) +PyC12=S2L2C1
C1 =( -C2 L2S1 +Py- L1S1) / S2L2
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(A)
(B)
(X)

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From eqn.(6)
( -PxS1+PyC1)=S2L2
C1= (S2L2+PxS1) / Py
(y)
Comparing (x) & (y)
(S2L2+PxS1) / Py =( -C2 L2S1 +Py- L1S1) / S2L2
By solving the set of equations Theta 1 can be calculated as
Py[L1+L2C2]-PxL2S2 / Px[L1+L2C2]+PyL2S2 = S1/C1
20-12-2010

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Robot Kinematics

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Robot Kinematics

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ROBOT KINEMATICS

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Algebraic Approach (D-H Representation)

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Design of Robot manipulators

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According to physical configuration ,a robot is

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It is the branch of physical science which deals with

Kinetics deals with the inertia force of the body

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It is the branch of dynamics which deals with the

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Planar and Spatial Robots

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Degree of Freedom is the number of independent

of motion(3 translatory & 3 rotary motions)

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Degrees of Freedom of Robots

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An Example - The PUMA 560

There are two more

The PUMA 560 has SIX revolute joints

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transforms a point (attached with a frame) or a vector X, into

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We define the translation and transformation as

point Y whose location is given by vector

the component (A, B, C). The0matrix

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Rotation around the XAxis

Rotation around the Y-Axis

Rotation around the ZAxis

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H is a 4x4 matrix that can describe a translation,

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An Important Point to Remember

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