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ANALYSIS
OF
ROBOTS
(Part 4)
Kinematics Analysis of Robots IV
Y2 Y3
Y0 , Y 1
P
X0, X1 X2 X3
Z2 Z3
Example: A 3 DOF RRR Robot
In this case we are not given the following matrix for the
description of the orientation and position of point P:
nx ox ax px
n py 0 1 2
1T 2T 3T 03T
oy ay
y
nz oz az pz
0 0 0 1
px
p p y
0
p
1 z
1
Example: A 3 DOF RRR Robot
We know that
3
p 0 p
0
3T
1 1
T
0 1 2 3 1 2 3 1 2 1
0 0 0 1 1
cos( )[ A B cos( ) C cos( )] p
1 2 2 3 x
sin( )[ A B cos( ) C cos( )] p
3
p
T
0 1
2 2 3 y
1 B sin( ) C cos( ) p
3
2 2 3 z
1
Example: A 3 DOF RRR Robot
Equate elements:
p x cos(1 )[ A B cos( 2 ) C cos( 2 3 )]
px
cos(1 )
A B cos( 2 ) C cos( 2 3 )
py
1 tan
1
px
Be Careful!
Example: A 3 DOF RRR Robot
y
y tan( )
x
x
Otherwise, let py
A
sin(1 )
Example: A 3 DOF RRR Robot
sin( 2 )
2 tan 1
cos( 2 )
Example: A 3 DOF RRR Robot
Y2 Y3
Y0, Y 1
P
X0, X1 X2 X3
Z2 Z3
5
p 0
0
Now find 1, 2, and 3 to move point P to
1 1
1
Example: A 3 DOF RRR Robot
p y 0 1 p y
1 tan 0
px 5 px
px
Now cos(1)0, let A 2
cos(1 )
2 p z2 B 2 C 2
cos( 3 ) 0
2 BC
sin( 3 ) 1 cos 2 ( 3 ) 1
sin( 3 )
3 tan 1
90
cos( 3 )
I.e. Assume elbow down
Example: A 3 DOF RRR Robot
a [ B C cos( 3 )] 2
b [C sin( 3 )] 1
apz b 2 2
sin( 2 ) 0
a b
2 2
5
b sin( 2 )
Now a0, then cos( 2 ) 1
a
sin( 2 )
2 tan 1
0
cos( 2 )
Link (1)
Link (2) Link (3)
Prismatic joint <2>
Frame Assignment
Z1
X1
Y1
X1
Z1
Example: A 3 DOF RPR Robot
Frame Assignment
Z0, Z1
Y2
X2
Z2 Z2
Y0, Y1
X0, X1
Y2
Example: A 3 DOF RPR Robot
Frame Assignment
Z0, Z1
Y2 Y3
X2 X3
Z2 Z3
Y0, Y1
X0, X1
Y3
Example: A 3 DOF RPR Robot
Frame Assignment
1
Z0, Z1
Y2 Y3
d2 X2 X3
3
Z2 Z3
Y0, Y1
X0, X1
Example: A 3 DOF RPR Robot
Tabulation of D-H parameters
Z0, Z1 Y2 Y3
X2 X3
Z2 Z3
Y0, Y1
X0, X1
X2 X3
Z2 Z3
Y0, Y1
X0, X1
X2 X3
Z2 Z3
Y0, Y1
X0, X1
i=1 -90 0 0 1
(1=0 at home
position)
i=2 0 0 d2 2=180
i=3 A 3
(3=-0 at home
position)
Example: A 3 DOF RPR Robot
Tabulation of Transformation Matrices from the D-H table
cos( i ) sin( i ) 0 ai1
cos( ) sin( ) cos( ) cos( ) sin( ) d sin( )
i 1
T i 1 i i 1 i i 1 i i 1
sin( i1 ) sin( i ) sin( i1 ) cos( i ) cos( i 1 ) d i cos( i 1 )
i
0 0 0 1
0 0, a0 0, d1 0
cos(1 ) sin(1 ) 0 0
sin( ) cos( ) 0 0
0
T 1 1
0 1 0
1
0
0 0 1
0
Example: A 3 DOF RPR Robot
Tabulation of Transformation Matrices from the D-H table
1 90 , a1 0, 2 180
1 0 0 0
0 0 1 d2
2T
1
0 1 0 0
0 0 0 1
2 0, a2 0, d3 A
cos( 3 ) sin( 3 ) 0 0
sin( ) cos( ) 0 0
2
T 3 3
0 A
3
0 1
0 1
0 0
Example: A 3 DOF RPR Robot
Once all the transformation matrices are obtained, you can then
proceed to get the overall transformation matrix for the forward
kinematics.