Chapter 2

Chapter 2
Robot Kinematics: Position Analysis
2.1 INTRODUCTION
Forward Kinematics:
to determine where the robots hand is?
(If all joint variables are
known)
Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand
be
located at a particular
point)
Chapter 2
2.2 ROBOTS AS MECHANISM

Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)
Fig. 2.1 A one-degree-of-freedom closedloop

four-bar mechanism
Fig. 2.2 (a) Closed-loop versus (b) open-loop

mechanism
Chapter 2
2.3 MATRIX REPRESENTATION

2.3.1 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. 2.3 Representation of a point in
space
Chapter 2

2.3.2 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. 2.4 Representation of a vector in
space
Chapter 2
2.3.3 Representation of a Frame at the Origin of a Fixed-Reference Fram
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. 2.5 Representation of a frame at the origin of the reference

frame
Chapter 2

2.3.4 Representation of a Frame in a Fixed Reference Frame
Each Unit Vector is mutually

perpendicular. :
normal, orientation, approach
vector
nx ox a x Px
n o a P
y
y
y
y
F
nz oz a z Pz
0
0
0
1
Fig. 2.6 Representation of a frame in a

frame
Chapter 2

2.3.5 Representation of a Rigid Body
An object can be represented in space by attaching

a frame
to it and representing the frame in space.
Fobject
Fig. 2.8 Representation of an object in

space
nx
n
y
nz
ox
oy
oz
0
ax
ay
az
0
Px
Py
Pz
Chapter 2
2.4 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
Chapter 2
2.5 REPRESENTATION OF TRANSFORMATINS

2.5.1 Representation of a Pure Translation
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
Fig. 2.9 Representation of an pure translation in
space
0
1
0
0
0
0
1
0
dx
d y
dz
Chapter 2

2.5.2 Representation of a Pure Rotation about an Axis
Assumption : The frame is at the origin of the reference frame and

parallel to it.
Fig. 2.10 Coordinates of a point in a

rotating
frame before and after rotation.
Fig. 2.11 Coordinates of a point relative to the

reference
frame and rotating frame as viewed from the
x-axis.
Chapter 2

2.5.3 Representation of Combined Transformations
A number of successive translations and rotations.
Fig. 2.13 Effects of three successive

transformations
Fig. 2.14 Changing the order of transformations

will
Chapter 2

2.5.5 Transformations Relative to the Rotating Frame
Example 2.8
Fig. 2.15 Transformations relative to the current
Chapter 2
2.6 INVERSE OF TRANSFORMATION MATIRICES

Inverse of a matrix calculation steps :
Calculate the determinant of the matrix.
Transpose the matrix.
Replace each element of the transposed matrix by its own minor(adjoint matrix).
Divide the converted matrix by the determinant.
Fig. 2.16 The Universe, robot, hand, part, and end effecter
frames.
Chapter 2
2.7 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.
Recall Chapter 1.
Fig. 2.17 The hand frame of the robot relative to the

reference frame.
Chapter 2

2.7.1 Forward and Inverse Kinematics Equations for Position
Forward Kinematics and Inverse Kinematics equation for position

analysis :
(a) Cartesian (gantry, rectangular) coordinates.

(b) Cylindrical coordinates.
(c) Spherical coordinates.
(d) Articulated (anthropomorphic, or all-revolute) coordinates.
Chapter 2

2.7.1(a) Cartesian (Gantry, Rectangular) Coordinates
IBM 7565 robot

All actuator is linear.
A gantry robot is a Cartesian robot.
TP Tcart
Fig. 2.18 Cartesian Coordinates.
1
0
0
1
0
0
0
0
1
0
Px
Py
Pz
Chapter 2

2.7.1(b) Cylindrical Coordinates
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
R
TP Tcyl (r , , l ) Trans(0,0, l )Rot( z , )Trans( r ,0,0)
C S 0 rC
S C 0 rS
R
TP Tcyl
0
0 1 l
0
0
0
1
Fig. 2.19 Cylindrical Coordinates.
Chapter 2

2.7.1(c) 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, )
TP Tsph
C C S S C rS C
C S C S S rS S
Fig. 2.20 Spherical Coordinates.
rC
1
Chapter 2

2.7.1(d) Articulated Coordinates
3 rotations -> Denavit-Hartenberg representation
Fig. 2.21 Articulated Coordinates.
Chapter 2

2.7.2 Forward and Inverse Kinematics Equations for Orientation
Roll, Pitch, Yaw (RPY) angles

Euler angles
Articulated joints
Chapter 2

2.7.2(a) Roll, Pitch, Yaw(RPY) Angles
Roll: Rotation ofa

Pitch: Rotation ofo
Yaw: Rotation ofn
about
a
-axis (z-axis of the moving frame)
o
about
-axis (y-axis of the moving frame)
n
about
-axis (x-axis of the moving frame)
Fig. 2.22 RPY rotations about the current axes.
Chapter 2

2.7.2(b) Euler Angles
Rotation of
abouta
-axis (z-axis of the moving frame) followed
Rotation of
o
abouta
-axis (y-axis of the moving frame) followed
Rotation of
about
-axis (z-axis of the moving frame).
by
by
Fig. 2.24 Euler rotations about the current
Chapter 2

2.7.2(c) Articulated Joints
Consult again section 2.7.1(d).
Chapter 2

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
Chapter 2
2.8 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. 2.25 A D-H representation of a general-purpose joint-link

combination
Chapter 2

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.
Chapter 2

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
Chapter 2

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.
Chapter 2

The necessary motions to transform from one
reference
frame
to the
next.
(I) Rotate
about
the z -axis an able of n+1. (Coplanar)
n
(II) Translate along zn-axis a distance of dn+1 to make xn and

xn+1
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the
origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-
Chapter 2
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT

Determine the value of each joint to place the
arm at a
R desired position and orientation.
TH A1 A2 A3 A4 A5 A6
C1 (C234C5C6 S 234 S 6 )
S S C
1 5 6
S1 (C234C5C6 S 234 S 6 )
C1S5C6
S 234C5C6 C234 S 6
nx
n
y
nz
ox
oy
oz
0
ax
ay
az
0
px
p y
pz
C1 (C234C5C6 S 234C6 )
C1 (C234 S5 ) S1C5 C1 (C234 a4 C23a3 C2 a2 )

S1S5C6
S1 (C234C5C6 S 234C6 )
S1 (C234 S5 ) C1C5 S1 (C234 a4 C23 a3 C2 a2 )
C1S5C6
S 234C5C6 C234C6
S 234 S5
S 234 a4 S 23a3 S 2 a2
0
0
1
Chapter 2

nx
1 n y
A1
nz
ox
oy
oz
0
C1 S1
0 0
S1 C1
0 0
0
1
0
0
ax
ay
az
0
px
p y
A11[ RHS ] A2 A3 A4 A5 A6
pz
0 nx
0 n y
0 nz

1 0
ox
oy
oz
0
ax
ay
az
0
px
p y
A2 A3 A4 A5 A6
pz
Chapter 2

py
px
1 tan 1
2 tan 1
(C3a3 a2 )( p z S 234 a4 ) S 3 a3 ( p x C1 p y S1 C234 a4 )

(C3 a3 a2 )( p x C1 p y S1 C234 a4 ) S3 a3 ( Pz S 234 a4 )
S3
C
3
3 tan 1
4 234 2 3
5 tan 1
C234 (C1a x S1a y ) S 234 a z

S1a x C1a y
6 tan 1
S 234 (C1nx S1n y ) S 234 nz

S 234 (C1ox S1o y ) C234 oz
Chapter 2
2.10 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. 2.30 Small sections of movement for straight-line motions
Chapter 2
2.11 DEGENERACY AND DEXTERITY

Degeneracy : The robot looses a degree of
freedom
and thus cannot perform as
When the robots joints reach their physical
desired.
limits,
and as a result, cannot move any further.
In the middle point of its workspace if the zaxes
of two similar
becomes
colinear.
Dexterity
: The joints
volume
of points
where one
can
position the robot as desired, but
not
orientate it.
Fig. 2.31 An example of a robot in a degenerate
position.
Chapter 2
2.12 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 2.3 THE PARAMETERS TABLE FOR THE
STANFORD ARM
Fig. 2.31 The frames of the Stanford

Arm.
-90
d1
90
d1
-90
90

Chapter 2 - Robot Kinematics

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Robot Kinematics: Position Analysis

2.2 ROBOTS AS MECHANISM

Fig. 2.1 A one-degree-of-freedom closedloop

Fig. 2.2 (a) Closed-loop versus (b) open-loop

2.3 MATRIX REPRESENTATION

2.3 MATRIX REPRESENTATION

2.3 MATRIX REPRESENTATION

2.3.3 Representation of a Frame at the Origin of a Fixed-Reference Fram

Each Unit Vector is mutually

Fig. 2.5 Representation of a frame at the origin of the reference

2.3 MATRIX REPRESENTATION

Each Unit Vector is mutually

Fig. 2.6 Representation of a frame in a

2.3 MATRIX REPRESENTATION

An object can be represented in space by attaching

Fig. 2.8 Representation of an object in

2.4 HOMOGENEOUS TRANSFORMATION MATRICES

2.5 REPRESENTATION OF TRANSFORMATINS

A transformation is defined as making a movement in

2.5 REPRESENTATION OF TRANSFORMATINS

Assumption : The frame is at the origin of the reference frame and

Fig. 2.10 Coordinates of a point in a

Fig. 2.11 Coordinates of a point relative to the

2.5 REPRESENTATION OF TRANSFORMATINS

A number of successive translations and rotations.

Fig. 2.13 Effects of three successive

Fig. 2.14 Changing the order of transformations

2.5 REPRESENTATION OF TRANSFORMATINS

Fig. 2.15 Transformations relative to the current

2.6 INVERSE OF TRANSFORMATION MATIRICES

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

Fig. 2.17 The hand frame of the robot relative to the

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

Forward Kinematics and Inverse Kinematics equation for position

(a) Cartesian (gantry, rectangular) coordinates.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

IBM 7565 robot

Fig. 2.18 Cartesian Coordinates.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

2 Linear translations and 1 rotation

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

Fig. 2.19 Cylindrical Coordinates.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

2 Linear translations and 1 rotation

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

Fig. 2.20 Spherical Coordinates.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

3 rotations -> Denavit-Hartenberg representation

Fig. 2.21 Articulated Coordinates.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

Roll, Pitch, Yaw (RPY) angles

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

Roll: Rotation ofa

-axis (z-axis of the moving frame)

-axis (y-axis of the moving frame)

-axis (x-axis of the moving frame)

Fig. 2.22 RPY rotations about the current axes.

2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS

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

-axis (y-axis of the moving frame) followed

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