Engr.

Dilruba Siddiqi
Robotics MCT-451: Position Kinematics - Inverse

Kinematics-Introduction
 Kinematics Problem deals with Positions, Velocities and Accelerations
 Position Kinematics of a Robot

Forward
Manipulator/Rover End-Effector
(Joint Variables) Inverse (Position and Orientation)
 
 xee   q1   1 
  q   
 y ee   2  d 2 
  F q  d 
 z ee
   3   3
 ee  x  I q4   4 
 Joint Variables, q1 , q2 , q3
... q     
 ee  y  q5 ,  ...
i

   
5

 ee  z  q   6 3
 Revolute Joints: the jointangles e.g. 1 2
, i

 Prismatic Joints: the joint displacements 6  e.g. d 1 , d 2 , d 3 ... d i

October 2018 MCT UET FSD 2
 Robotics MCT-451: Position Kinematics – Inverse
Forward Verses Inverse Position Kinematics
Forward Position Kinematics
1. There is a unique solution to Forward
Kinematic Equations i.e. There exists a
unique End-Effector Pose to given set of
joint variables.
2. The solution to forward kinematic
equations may be difficult to obtain.
Inverse Position Kinematics
1. The Inverse Kinematic Problem may or
may not have a solution. Even if a solution
exists, it may or may not be unique.
2. Here, we are interested in closed form
solution which requires a set of rules to
develop.

October 2018 MCT UET FSD 3

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position Kinematics-Methodology
Position and Orientations of
Joint Variables
End-Effector

 
 xee   q1 
  q 
 Physical Diagram of Robot y(Given)
ee   
2
  q
 z
Extraction of Kinematic/Free ee BodyDiagram
 of Robot
    3
 Kinematic Decoupling  ee  x  q4 
   
 Calculation of Manipulator
 eeJoint q
 y  Variable
 5
using Inverse Position  ee  z  q 
 6
 Calculation of Spherical Wrist Joint Variable
using Inverse Orientation
October 2018 MCT UET FSD 4
Robotics MCT-451: Position Kinematics – Inverse
Kinematic Decoupling of Fundamental Configurations
with Spherical Wrist
 Inverse Position Kinematics
 Wrist Centre is a function of first three joint variables of Manipulator
 Inverse Orientation Kinematics
 RPY angles
 Euler angles
 Euler Parameters

October 2018 MCT UET FSD 5

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position Kinematics using Kinematic Decoupling
(Procedure/Steps)
 Calculate the Wrist Coordinates/Wrist Centre
 o0  o0  d 0 R0
c 6 6 6
0 0 1
T

 xc   o0  d 0 r13 
x 6

   y 
 
6
  y c  o0 d 0 r 23
   z 6 
 z c  o0 d 0 r 33
 Find first three variables of Manipulator i.e. q ,q ,q
1 2 3

R using q1 , q2 , q3
3
 Find 0

 Determine the RPY/Euler angles/Parameters

1
 R3  ( R3)
6 6
0 R
0

October 2018 MCT UET FSD 6

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Articulated Configuration

October 2018 MCT UET FSD 7

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Articulated Configuration

 Joint Variable  1

  tan ( x , y )
1
 1 c c

October 2018 MCT UET FSD 8

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Articulated Configuration
 Singular Configuration for  1

October 2018 MCT UET FSD 9

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Articulated Configuration

 Joint Variable  2

 2  tan (
1 2 2 1
xc   d , z c)  tan (a2  a3 c3 , a3 s3)
2
 yc

October 2018 MCT UET FSD 10

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Articulated Configuration

 Joint Variable  3

 3  tan 1
( D,  1  D 2
)

 Where
2 2 2 2 2
 y  d  z c  a 2  a3
2

D
x c c
2a a 2 3

October 2018 MCT UET FSD 11

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Spherical Configuration

October 2018 MCT UET FSD 12

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 SCARA Configuration

October 2018 MCT UET FSD 13

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Cylindrical Configuration

October 2018 MCT UET FSD 14

Robotics MCT-451: Position Kinematics – Inverse
Inverse Position: A Geometric Approach
 Cartesian Configuration

October 2018 MCT UET FSD 15

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation

October 2018 MCT UET FSD 16

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation
 Euler Angles
 Roll-Pitch-Yaw Representation
 Axis-Angle Representation
 Euler Parameters

October 2018 MCT UET FSD 17

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 (Proper ) Euler Angles Sets (6)
 XYX, XZX, YXY, YZY, ZXZ, ZYZ
 Tait-Bryan/Cardanian Angles Sets (6)
 XYZ, XZY, YZX, YXZ, ZYX, ZXY

October 2018 MCT UET FSD 18

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 Euler Angles Representation ZYZ (φ, θ, ψ)
 z 0 to z 1

 R z,
 R y,
 R z,

October 2018 MCT UET FSD 19

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 Euler Angles Representation ZYZ (φ, θ, ψ)
 R z,
 R c  s 0  c s  c  s 0
y,
0
 R z,
  
 R  R  R  R   s c
z,

y, z,
0  0 1 0   s c 0
 0 0 1  s 0 c   0 0 1
c c c  s s c c s  s c c s 
     

 R   s c c  c s  s c s c c s s 

  s c s c c 

October 2018 MCT UET FSD 20

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 Roll-Pitch-Yaw Angles

October 2018 MCT UET FSD 21

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 Roll-Pitch-Yaw Angles Representation XYZ
 z 0 to z 1

 R x, 
 R   y, 
 R   z, 

October 2018 MCT UET FSD 22

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: 3 Angles Representation
 Roll-Yaw-Pitch Angles Representation XYZ

c

 s 0  c

0 s  1 0 0 

 R R  R  R 
z, y, x,
  s c 0  0 1 0  0 c  s 
 0 0 1  s 0 c  0 s c 
c c
   c s s  s c c s c  s s 
R   s c s s s c c s s c c s 
 
  s c s c c 

October 2018 MCT UET FSD 23

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: Axis-Angle Representation
 Roll-Yaw-Pitch Angles Representation XYZ

c

 s 0  c

0 s  1 0 0 

 R R  R  R 
z, y, x,
  s c 0  0 1 0  0 c  s 
 0 0 1  s 0 c  0 s c 
c c
   c s s  s c c s c  s s 
R   s c s s s c c s s c c s 
 
  s c s c c 

October 2018 MCT UET FSD 24

Robotics MCT-451: Position Kinematics – Inverse
Inverse Orientation: Unit Quaternion

October 2018 MCT UET FSD 25