6 Robot Kinematics and Dynamics 1 PDF

6.
Basic Coordinates
Rotation and Translation in basic of Robot Coordinates, Homogeneous
g
Transform
Euler Angles, Denavit-Hartenberg Notation
Affiliated Professor : Jaeyoung Lee

E-mail : [email protected]
H P : 011 9455 - 5277
H.P
IT
Topics
p
Basic Coordinates
Coordinate Frames & Denavit-Hartenberg

Denavit Hartenberg Notation
Forward and Inverse Kinematics of Robot Manipulators
Manipulator
p
Jacobian
Review of Lagrangian Dynamics
Lagrangian Dynamics of Robot Manipulators
Newton-Euler Equations of Robot Manipuators
Forward and Inverse Dynamics
Robot Statics
Robot Trajectory Planning
Robot Control
IT
Basic Coordinates
Operators for Translation and Rotation
Translation
Rotation
IT
Basic Coordinate
Coordinate Frames
Translation
Rotation
IT
Basic Coordinate
Different View Based Upon Different Coordinates
Translation
Rotation
IT
Basic Coordinate
Rotation and Translation Combined
A single rotation after a single translation:
A single rotation and a single translation after another pair of

translation and rotation:
Scheme shown above to represent transform operations is not a

good way of simplifying notation and computations.
We need consistent transforms for translations and rotations:

homogeneous transform
IT
Basic Coordinate
Rotation Matrix R
Vector p can be represented with respect to the

two different coordinates, i.e., coordinate A and B
We can to find a rotation matrix such that
Noting that x_A, y_A and z_A represent the

components of p along the x, y, and z axes of
coordinate A.
IT
Basic Coordinate
Rotation Matrix R
Noting that x_A,

x A, y_A
y A and z_A
z A represent the components of p along the x, y, and z
axes of coordinate A.
Therefore,
IT
Basic Coordinate
Rotation Matrix R
Therefore,
Similarly,
Thus,
Rotational matrix R is orthonormal (orthogonal).
Therefore,
IT
Basic Coordinate
Homogeneous Transform
In homogeneous transforms, translation and orientations have identical

characteristics.
Position vector [x y z]T is represented by an augmented vector [x y z 1]T .
Translation is represented by a matrix:
10
IT
Basic Coordinate
-
Rotation is represented by a matrix:
11
IT
Basic Coordinate
-
If translation and rotation are combined
12
IT
Basic Coordinate
-
If translation and rotation are combined

Therefore,
Inverse of homogeneous transform
13
IT
Basic Coordinate
More On Rotation : Euler Angles
Many different sets of Euler angles exist
Z-Y-Z, Z-Y-X, and etc,
Example : Z-Y-X : Rotate around z-axis, and then around y-axis, and finally
around x-axis
x axis.
Rotational Transformation (Post-multiplication)
14
IT
Basic Coordinate
15
IT
Basic Coordinate

X-Y-Z
X
Y Z Fixed Angles (Pitch-Yaw-Roll)
(Pitch Yaw Roll)
Note
Rotational Transformation (Pre

(Pre-multiplicatin)
multiplicatin)
16
IT
Basic Coordinate
Equivalent Angle-Axis
Represented by a unit vector that indicates the axis of rotation and an angle to
rotate.
If the axis of rotation is k = [K_x K_y K_z]^T,
17
IT
Basic Coordinate
Denavit-Hartenberg Notation
Conventions
Joint i moves link i

Frame i is fixed at (attached to) link i and located at the distal joint, which means
that frame i is located at joint i+1.
Z-axes are aligned with joint axes.
18
IT
Basic Coordinate
4 Link Parameters
Link Length(L_n):
Length(L n): the shortest distance between two joint axes at both
ends of Link n.
Link Twist(alpha_n): "twist" angle of two z-axes at both ends of Link n

in the direction of x_n
x n -axis
axis.
Link Offset (d_n): distance from the origins of Frame n-1 to Frame n in
the direction of Z_n-1-axis.
- Joint
i Angle(Thetat_n):
l h
angle
l ffrom x_n-1-axis
1 i to x_n -axis
i iin the
h direction
di
i
of z_n-1-axis.
19
IT
Basic Coordinate
Miscellaneous Conventions
If z-axes
z axes meet each other,
other x_n
x n axis,
axis in general,
general is defined to be zz_n
n1z_n.
Positive direction of z-axis can be either.
20
IT
Basic Coordinate
Miscellaneous Conventions
The origin of frame 0 is usually coincide with that of frame 1.

1
Z-axis of frame 0 is aligned with z-axis of joint 1.
For a prismatic joint, z-axis is aligned with the sliding direction of the
j i IIn this
joint.
hi case, link
li k offset
ff
d iis the
h jjoint
i variable.
i bl
Homogeneous transform :
Homogeneous transform can be obtained directly by observing the

coordinates
d
in most cases.
21
IT
Basic Coordinate
Example :
22
IT
Basic Coordinate
Example :
Note that
h T^0_1 can be
b directly
d
l determined
d
d
23
IT
Kinematics & Inverse Kinematics
Forward Kinematics
For a given set of joint displacements, the end-effector position and

orientation can be calculated. (Forward Kinematics)
Inverse Kinematics
For a given set of end-effector position
and orientation, joint displacements are

computed.
-
We have to solve nonlinear equations;
however, we may not able to solve for

solutions analytically.
24
IT
Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Forward Kinematics
25
IT

F
Forward
d Kinematics
Ki
ti
26
IT

E d Eff t P
End-Effector
Position
iti
End-Effector Orientation
27
IT
Inverse Kinematics
- For a given tip position [x y]^T, the joint displacement [theta_1 theta_2]^T
is to be determined.
Geometric Method
(Using cosine rule)
28
IT
Inverse Kinematics
29
IT
Inverse Kinematics
30
IT
Inverse Kinematics
Sign: "+", if -p < theta_2 < 0, i.e., at "elbow up configuration "-", otherwise.
31
IT

Algebraic Method
left hand side: a constant matrix

left-hand-side:
right-hand-side: a matrix whose elements are functions of joint angles
32
IT

Algebraic Method
33
IT

Algebraic Method
Let
Then
34
IT

Algebraic Method
Similarly,
Using
g
35
IT

Algebraic Method
where
Therefore,
36
IT
Kinematic Decoupling
If the final 3 consecutive axes meet at a point, the process of solving inverse
kinematics is simplified.
Three axes z4 , z5 , and z6
meet at a wrist center
center.
The position of the wrist center, w, is determined

by q1, q2 , and q3 only.
37
IT
Kinematic Decoupling
- From the target tool position d and orientation R, wrist center
position can be computed:
where
h
- Once the wrist center is known, the first 3 joint variables, q1, q2, and q3 , can
be computed.
- The orientation matrix R^0_3 can be computed after q1, q2 , and q3 are
d t
determined.
i d
- The rest of joint variables, q 4, q5 , and q6 , can be computed from R_6^3,
which in turn can be computed by
38
IT
SCARA Robot
39
IT
SCARA Robot
- Inverse Kinematics of SCARA Robot
40
IT
SCARA Robot
- Rotation matrix R can be in the form of
41
IT
SCARA Robot
Using a geometry formed by projecting the manipulator configuration

upon a horizontal plane, which forms a 2-link manipulator,
Again, similarly to a 2-link manipulator,
and
42
IT
SCARA Robot
- Solvability : A manipulator is defined to be solvable, if all the sets of joint variables

for a given position and orientation can be determined by an algorithm. Many
manipulators have multiple solutions for a single configuration. For example,
PUMA 560 has 8 solutions.
-W
Workspace
k
: The
Th volume
l
off space that
h the
h end-effector
d ff
off a manipulator
i l
can reach.
h
Within the workspace, inverse kinematics solutions exist.
- Closed Form Solution : Inverse kinematic solutions can be grouped into closed form
solutions and numerical solutions.
solutions Closed form solutions are noniterative such as
algebraic expressions; whereas numerical solutions are iterative. Numerical
solutions are computationally more expensive and slower.
p
work : A g
general 6 d.o.f. manipulator
p
does not have a closed form solution.
- Pieper's
If the three consecutive axies intersect at a point, a closed form solution exists. For
most commercial manipulators, the last consecutive axes intersect at a point.
- Notes: Even if inverse kinematic solutions are found, they may not be physically
realizable due to joint angle limitations
limitations.
43
IT
HW 6
139p, 1
44
IT
REFERENCE
2 :
Introduction to Robotics,, byy J,, J. Craig

g
Ch 2. Spatial descriptions and transformations
Ch 3. Manipulator kinematics
Ch 4. Inverse manipulator kinematics
45

6 Robot Kinematics and Dynamics 1 PDF

Uploaded by

Copyright:

Available Formats

6 Robot Kinematics and Dynamics 1 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

6 Robot Kinematics and Dynamics 1 PDF

Uploaded by

Copyright:

Available Formats

6.

Affiliated Professor : Jaeyoung Lee

Coordinate Frames & Denavit-Hartenberg

Forward and Inverse Kinematics of Robot Manipulators

Review of Lagrangian Dynamics

Lagrangian Dynamics of Robot Manipulators

Newton-Euler Equations of Robot Manipuators

Forward and Inverse Dynamics

Robot Trajectory Planning

Operators for Translation and Rotation

Different View Based Upon Different Coordinates

Rotation and Translation Combined

A single rotation after a single translation:

A single rotation and a single translation after another pair of

Scheme shown above to represent transform operations is not a

We need consistent transforms for translations and rotations:

Vector p can be represented with respect to the

We can to find a rotation matrix such that

Noting that x_A, y_A and z_A represent the

Noting that x_A,

Rotational matrix R is orthonormal (orthogonal).

In homogeneous transforms, translation and orientations have identical

Position vector [x y z]T is represented by an augmented vector [x y z 1]T .

Translation is represented by a matrix:

Rotation is represented by a matrix:

If translation and rotation are combined

If translation and rotation are combined

Inverse of homogeneous transform

More On Rotation : Euler Angles

Many different sets of Euler angles exist

Z-Y-Z, Z-Y-X, and etc,

Rotational Transformation (Post-multiplication)

More On Rotation : Euler Angles

More On Rotation : Euler Angles

Rotational Transformation (Pre

If the axis of rotation is k = [K_x K_y K_z]^T,

Joint i moves link i

Link Twist(alpha_n): "twist" angle of two z-axes at both ends of Link n

Positive direction of z-axis can be either.

The origin of frame 0 is usually coincide with that of frame 1.

Z-axis of frame 0 is aligned with z-axis of joint 1.

Homogeneous transform can be obtained directly by observing the

Kinematics & Inverse Kinematics

For a given set of joint displacements, the end-effector position and

For a given set of end-effector position

and orientation, joint displacements are

We have to solve nonlinear equations;

however, we may not able to solve for

Kinematics & Inverse Kinematics

Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Kinematics & Inverse Kinematics

Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Kinematics & Inverse Kinematics

Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Kinematics & Inverse Kinematics

Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Kinematics & Inverse Kinematics

Kinematics & Inverse Kinematics for a 2-D Revolute-Jointed Manipulator

Kinematics & Inverse Kinematics