UNIT-2 Motion Analysis and Kinematics

UNIT-2_RBT_MOTION ANALYSIS & MANIPULATOR KINEMATICS
Robot Reference Frames
Universal coordinate frame, as Used to specify movements of Which specifies the movements of
defined by the x-y-z axes. In this each individual joint of the the Robots hand relative to the
case the joints of the robot move Robot. In this case each joint frame attached to the hand. The
simultaneously so as to create may be accessed individually x’,y’and z’ axes attached to the hand
motions along the three major and thus only one joint moves define the motions of the hand
axes. at a time. relative to this local frame. All joints
of the Robot move simultaneously.
B.N.Dhanunjayarao, Email: [email protected]
Homogeneous transformations
Kinematics of Robot: Study of establishment of relations among various
coordinate systems in which the position and orientation of the various links
(rigid bodies) of the robot are defined. The various coordinated frames are
derived using vector and Matrix algebra.
In order to manipulate an object in given space, we must apply various
transformation functions to the object. This allows us to change the
position, size, and orientation of the objects.
Homogeneous transformations are used to define
rotation and translation of jth link with respect to ith
link and vice versa. Basic Transformations
(manipulation done on an object) are :
1. Translation,
2. Rotation.
Matrix Representation
Apply the Transformation to a Point
x = ax + by  x   a b   x 
y = cx + dy  y  =  c d   y 
    
Transformation
Point
Matrix
Transformations can be combined by matrix multiplication
 x    a b  e f  i j   x 
 y  =  c d   g
Matrices are a convenient
and efficient way     
to represent a sequence of     h  k l   y 
transformations
Transformation
Matrix
2D Translation
Moving of object from one position to
another position is called Translation.
tx, ty are translation parameters with

respect to x-axis and y-axis
P(x,y) is Point before Translation

From the above figure, you can write that
PI(xI,yI) is Point after Translation XI = X + tx
YI = Y + ty
We can write it as PI = P + T

Matrix Representation
2D translation can be represented by a 3×3 matrix
 x  1 0 tx   x 
x = x + tx  y = 0 1 ty   y  Translate
y = y + ty     
1  0 0 1  1 
2D Rotation transformations can be represented with a 3×3 matrix?
 x  cos − sin  0   x 
x = cos   x − sin   y  y = sin  cos  y
   0   Rotate
y = sin   x + cos   y
1  0 0 1  1 

HT applicable to rotation
Transformations can be combined by matrix multiplication
 x   1 0 tx  cos θ - sinθ 0  sx 0 0   x 

 y  =  0 1 ty   sinθ cosθ 0 0 sy 0    y 
       
 w  0 0 1   0 0 1  0 0 1   w 
p = T(tx, ty) R( ) S(sx, sy) p
2D Rotation transformations can be represented with a 2×2 matrix?
x = cos   x − sin   y  x  cos  − sin    x 

 y = sin  cos    y  Rotate
y = sin   x + cos   y     
Representation of pure translation
Since the directional vectors do not change in a
pure translation, the transformation T will simply be
Where dx, dy, and dz are the three components of a
pure translation vector d relative to the x-, y-, and z-
axes of the reference frame. The first three columns
represent no rotational movement (equivalent of a
1), while the last column represents the translation.
The new location of frame will be

Representation of a Pure Rotation

1. Translation: A frame F has been moved 10 units along the
y-axis and 5 units along the z-axis of the reference frame.
Find the new location of the frame.

2. Rotation: For the following rotation matrix determine the axis of
rotation and the angle of rotation about the same axis.

3. Rotation: A point p(2,3,4)T is attached to a rotating frame. The frame rotates 900
about the x-axis of the reference frame. Find the coordinates of the point relative to
the reference frame after the rotation, and verify the result graphically.

4. Composite rotation: Determine a composite rotation matrix for the following
sequence of rotations, Rotation of angle α, β, γ about x, y, z respectively.

5. Rotation and Translation: Write the homogeneous transformation matrix for a
rotation of 900 about the z-axis, followed by a rotation of 900 about the x-axis,
followed by a translation of (3, 7, 9).

6. Rotation and Translation: If a point (8i + 5j + 6k) is translated 4 units along
Y-axis and then rotated 300 about X-axis, obtain the coordinates after transformation.

7. Rotation and Translation: Figure shows a vector AP1. We wish to rotate it about Z by 300
and translate it 10 units in XA and 5 units in YA. Find AP2, where AP1 =[3,7,0] .
Solution: The operator T , which performs the translation and rotation, is

8. Rotation and Translation: For the point PXYZ = (0,5,2)T perform following operations (i)
Rotate 300 about the Y-axis followed by translation of 4 units along Z-axis, (ii) Translate 6
units along Z-axis followed by rotation of 600 along Y-axis.

9. Rotation and Translation: Find the transformation matrices for the following
operations on the point 2i-5j-3k (i) Rotate 600 about x-axis and then translate 5 units
along y-axis (ii) Translate -2 units along y-axis and rotate 450 about x-axis (iii) Translate 6
units along x-axis and rotate 450 about z-axis.

(ii) Translate -2 units along y-axis and rotate 450 about x-axis

(iii) Translate 6 units along x-axis and rotate 450 about z-axis.

10. Rotation and Translation: Two frames A & B are initially coincident. Frame A is fixed,
while frame B moves according to the following sequence. (i) Rotation about X, of 300 (ii)
Rotation about Y, of 600 (iii) Rotation about Z, of 900 and (iv) Translation of (1, 2, 3) along
Frame B. Find the new position and orientation of frame B in frame A (Express this as a
homogeneous transformation matrix).

(iv) Translation of (1, 2, 3) along Frame B. Find the new position and orientation
of frame B in frame A (Express this as a homogeneous transformation matrix).

10. Rotation and Translation: Figure shows a frame {B} that is rotated relative to
frame {A} about Z by 300 and translated four units in XA and three units in YA.
Thus, we have a description of 𝐵𝐴𝑇, Find 𝐵𝐴𝑇 .
Solution: The frame defining {B} is

FK & IK Equation’s for position and orientation
The matrix representing the final location and orientation of the robot is a combination of
the preceding equations, depending on which coordinates are used. Suppose that a robot is
made of a Cartesian and an RPY set of joints. Then the location and the final orientation of
the frame relative to the reference frame will be the product of the two matrices
representing the Cartesian position change and the RPY. The robot may be represented by
RT =T (P P P )*RPY(ϕ ϕ ϕ )
H cart X, Y, Z a, o, n
If the robot is designed based on spherical coordinates for positioning and Euler angles for
orientation, then the final answer will be the following equation, where the position is
determined by the spherical coordinates, while the final orientation is effected by both the
angles in the spherical coordinates, as well as the Euler angles:
RT =T (α,β,γ)*Euler(ϕ,θ,Ψ)
H sph
The forward and inverse kinematic solutions for these cases are not developed here, since
many different combinations are possible. Instead, in complicated designs, the D-H
representation is recommended.

Mappıng Involvıng General Frames:
Very often we know the description of a vector with respect to some frame, {B}, and we
would like to know its description with respect to another frame {A}. Here the origin of
frame {B} is not coincident with that of frame {A} but has a general vector offset. The
vector that locates {B}’s origin is called APBorg. Also {B} is rotated with respect to {A} as
described by ARB. Given BP, we wish to compute AP as in the figure.
ZB {B}
{A} ZA
XB BP
AP
Borg
AP
YB
YA
XA A
P= A R B B P+ A PBorg
Above equation describes a general transformation mapping of a vector from its
description in one frame to a description in a second frame.

Robot Kinematics: A Matrices
For given values of the joint variables, it is important to be able to specify the
locations of the links with respect to each other. This is accomplished by using
the manipulator kinematic equations.
We may associate with each link i a coordinate frame (xi, yi, zi) fixed to that link. A
standard and consistent paradigm for so doing is the Denavit-Hartenberg (D-H)
representation. The frame attached to link 0 (the base of the manipulator) is
called the base frame or inertial frame. The relation between coordinate frame i-1
and coordinate frame i is given by the transformation matrix.
zi
θi+1
Zi-1 xi
Zi-2 θi
θi-1
Link i
xi-1
Link i-1
Two kinematic topics
Forward Kinematics (angles to position)
What you are given: The length of each link & The
angle of each joint.
(to determine where the robot’s hand is?)
What you can find: The position of any point (i.e.
it’s (x, y, z) coordinates.
Inverse Kinematics (position to angles)
What you are given: The length of each link & The
position of some point on the robot.
(to calculate what each joint variable is?)
What you can find: The angles of each joint needed
to obtain that position.
In reality, what is more important is the inverse kinematic equations, since the robot
controller will calculate the joint values using known robot variables called forward
kinematic equations and it will run the robot to the desired position and orientation.
Forward kinematics
FK: Suppose that we have a robot whose configuration (all the link lengths and
joint angles of the robot) is known. Calculating the position and orientation of
the hand of the robot is called forward kinematic analysis. In other words, if all
robot joint variables are known, using forward kinematic equations, one can
calculate where the robot is at any instant.
It describes how to write the position of the end effector w.r.t position of the
base of a manipulator, equation to be developed by using the D-H algorithm.

Inverse kinematics
IK: If one desires to place the hand of the robot at a desired location and
orientation, one has to know how much each link length or joint angle of the
robot must be such that at those values, the hand will be at the desired
position and orientation. This is called inverse kinematic analysis.
It represents a robot how much angle of rotations are required to perform a
particular operation. Calculation of angles of rotation at each joint for
performing the particular task is IK.

Mechanical Structure and notations
Most industrial robotic manipulators are open serial kinematic chains, that
is, each link is connected to two other links, at the most, without the
formation of closed loops. In open chain robots, all joints are motorized.
Each joint has a joint axis with

respect to which, the motion of
joint is described, as shown in Fig.
By convention, the z-axis of a
coordinate frame is aligned with
the joint axis.

Description of links and joints
An n-DOF manipulator arm

consists of (n+ 1) links (including
link 0) connected by n joints.
To describe the position and orientation of a link in space, a coordinate frame is

attached to each link, namely, frame {i} to link i. The position and orientation of
frame {i}, relative to previous frame {i-I}, can be described by a homogeneous
transformation matrix as discussed in the previous. Figure shows link i of a
manipulator with associated joint axes (i-I) and i.
For a revolute joint, di is zero or constant and 𝜃i varies, while for a prismatic joint
𝜃i is zero or constant and di varies, describing the relative position of links. The
varying parameter is known as joint variable.

Industrial robots (links are usually

straight) that is, the two joint axes are
parallel, giving link length equal to Sometimes, the link may have a bend such that the
physical link dimension and link twist axis of joint (i-1) and joint i intersect and in this case
equal to zero. Another common link the link length of link i is zero although physical link
geometry is straight link with link dimension is not zero.
twist angle as multiple of π/2 radians.
Link parameters
For the two axes (i- 1) and i, there exist a mutual perpendicular, which gives the
shortest distance between the two axes. This shortest distance along the
common normal is defined as the link length (ai).
The angle between the projection of axis (i-1) and axis i, on a plane
perpendicular to the common normal AB, is known as the link twist angle (i).
The link twist a, is measured from axis (i-1) to axis i in the right hand sense
about AB as shown in Fig.
These two parameters, ai and i are known as link parameters and are
constant for a given link.

Joint parameters
The relative position of two links is measured by the displacement at the joint
(either a revolute or a prismatic joint), which is either joint offset or joint angle,
depending on the type of joint.
Joint offset (di) is the perpendicular distance between the two adjacent
common normals ai-1 and ai measured along axis (i-1). In other words, joint
offset is the translation needed along joint axis (i-1) to make ai-1 intersect with ai.
Joint angle (𝜽i) is the angle between the two adjacent common normals ai-1 and
ai measured in right-handed direction about the axis (i-1). It is the rotation about
joint axis (i-1) needed to make ai-1 parallel to ai.

D-H notation joint coordinates
➢ 𝜽 (joint angle) represents a rotation about the z-axis,
➢ d (Joint offset) represents the distance on the z-axis between two successive
common normal,
➢ a (Link length) represents the length of each common normal, and
➢  (Twist angle) represents the angle between two successive z-axes.
➢ A frame {i} is rigidly attached to distal end of link i and it moves with link i.
➢ Figure shows a pair of adjacent links, link (i-I) and link i, their associated joints,
joints (i-1), i and (i+1), and axes(i-2),(i-1) and i, respectively.
➢ Line AB, in the figure, is the common normal to (i-2) and (i-1) axes and line CD is
the common normal to (i-1) and i axes.

Commonly, only 𝜃 & d are joint

variables and a &  are link
variables.

A frame {i} is assigned to link i as follows:
(i) The z-axis is aligned with axis i, its direction being arbitrary. The
choice of direction defines the positive sense of joint variable 𝜃𝑖 .
(ii) The xi axis is perpendicular to axis zi-1 and zi and points away from
axis zi-1, that is, xi axis is directed along the common normal CD.
(iii) The origin of the ith coordinate frame, frame {i}, is located at the
intersection of axis of joint (i+1), that is, axis i, and the common normal
between axes (i-1) and i (common normal is CD).
(iv) Finally, yi axis completes the right-hand orthonormal coordinate
frame. B.N.Dhanunjayarao, Email: [email protected]
With respect to frame {i-I} and frame {i}, the four DH-parameters two link
parameters (ai & i ) and two joint parameters (di & 𝜃𝑖 ) are defined as:
ai is distance measured along ,axis from the point of intersection of xi-axis
with zi-1-axis (point C) to the origin of frame {i}, that is, distance CD.
I is angle between zi-1- and zi-axes measured about x,-axis in the right-
hand sense.
di is distance measured along zi-1 -axis from the origin of frame {i-1} (point
B) to the intersection of xi axis with zi-1-axis (point C), that is, distance BC
𝜽𝒊 is angle between xi-1 and xi axes measured about the zi-1 axis in the
right-hand sense. B.N.Dhanunjayarao, Email: [email protected]
D-H Link Frame Assignment Algorithm
The algorithm is divided into four parts. The first segment gives steps for labelling scheme
and the second one describes the steps for frame assignment to intermediate links 1 to (n-
1). The third and fourth segments give steps for frame {0} and frame {n} assignment,
respectively.
Step0: Identify and number the joints starting with base and ending with end effector.
Number the links from 0 to n starting with immobile base link as 0 and ending with last link
as n,
Step1: Align axis Zi, with axis of joint (i+1) for i=0,1,2,…,n-I
Assigning frames to intermediate links link 1 to link (n-1): For each link i repeat steps 2 & 3.
Step2: The xi axis is fixed perpendicular to both zi-1 and zi axes and points away from zi-1. The
origin of frame {i} is located at the intersection of zi and xi axes. Three situations are possible;
Case (i) zi-1 and zi axes intersect, choose the origin at the point of their intersection.
The Xi axis will be perpendicular to the plane containing zi-1 and zi axes. This will
give ai to be zero.
Case (ii) If zi-1 and zi axes are parallel or lie in parallel
planes then their common normal is not uniquely
defined. If joint i is revolute then Xi axis is chosen along
that common normal, which passes through origin of
frame {i-1}. This will fix the origin and make di zero. If
joint i is prismatic, Xi axis is arbitrarily chosen as any
convenient common normal and the origin is located at
the distal end of the link i.
Case (iii) zi-1 and zi axes coincide, the origin lies on the common axis. If joint i is
revolute, origin is located to coincide with origin of frame {i-1} and Xi axis coincides
with Xi-1 axis to cause di to be zero. If joint i is prismatic, Xi axis is chosen parallel to Xi-1
axis to make ai to be zero. The origin is located at distal end of link i.
Step3: The yi axis has no choice and is fixed to complete the right-handed
orthonormal coordinate frame {i}.
Assigning frame to link 0, the immobile base - frame {0}

Step4: The frame {0} location is arbitrary. Its choice is made based on simplification of
the model and some convenient reference in workspace. The X0-axis, which is
perpendicular to Z0-axis, is chosen to be parallel to X1 axis in the home position to
make 𝜃1 = 0. The origin of frame {0} is located based on type of joint I. If joint I is
revolute, the origin of frame {0} can be chosen at a convenient reference such as,
floor, work table, and so on, giving a constant value for parameter d1 or at a suitable
location along axis of joint 1 so as to make d1 zero. If joint 1 is prismatic, parallel X0
and X1 axes will make 𝜃1, to be zero and origin of frame {0} is placed arbitrarily.
Step 5: The y0 axis completes the right-handed orthonormal coordinate frame {0}.
Link n, the end-effector, frame assignment - frame {n}
Step 6: The origin of frame {n} is chosen at the tip of the manipulator, that is, a
convenient point on the last link (the end-effector). This point is called the “tool
point” and the frame {n} is the tool frame.
Step7: The Zn-axis is fixed along the direction of Zn-1 -axis and pointing away from the
link n. It is the direction of "approach."
Step8: If joint n is prismatic, take Xn parallel to Xn-1 -axis. If joint n is revolute, the
choice of Xn is similar to step 4, that is, Xn is perpendicular to both zi-1 and zi axes. Xn
direction is the "normal" direction. The yn-axis is chosen to complete the right-handed
orthonormal frame {n}. The yn-axis is the “orientation" or “sliding" direction.

Four Transformations from one Joint to
the Next

DH Representation of Joint-Link-Joint
Transformation

DH Representation of Joint-Link-Joint
Transformation
For a 6-DOF
robot, there
will be six A
matrices.
EXAMPLE: DH Representation
Final
matrix
from
previous
slide
substitute
substitute
Numeric or
symbolic
matrices
Homogeneous transformation matrix (T)
To facilitate the calculation of the A matrices, we will form a table of joint and link
parameters, whereby the values representing each link and joint are determined from
the schematic drawing of the robot and are substituted into each A matrix. Table 2.1
can be used for this purpose.

Problem1: For the simple 2-axis, planar robot of Figure shown , assign the necessary
coordinate systems based on the D-H representation, fill out the parameters table, and
derive the forward kinematic equations for the robot.
Solution: To identify the values, follow the four
necessary transformations required to go from one
frame to the next, according to the D-H convention:
1. Rotate about the z0-axis an angle of θ1 to make x0

parallel to x1.
2. Since x0 and x1 are in the same plane, translation
d along the z0-axis is zero.
3. Translate along the (already rotated) x0-axis a
distance of a1.
4. Since z0 and z1-axes are parallel, the necessary
rotation ά about the x1-axis is zero.

Problem1: Mathematical representation of simple 2-axis, planar robot
The forward kinematic

equation of the robot can be
found by substituting these
parameters into the
corresponding A matrices as
follows:
The forward kinematic

solution allows us to find the
location (and orientation) of
the robot’s end if values for
θ1, θ2,a a1 and a2 are
specified.

a1=1 m, a2=0.5 m, θ1=30°, θ2=60°
A1=
A2=
T=A1*A2=
cos(90) − sin (90) 0 1* cos 30 + 0.5 * cos(90)

 sin (90) cos(90) 0 1* sin 30 + 0.5 * sin (90) 
 
 0 0 1 0 
 
 [email protected]
B.N.Dhanunjayarao, Email: 0 0 0 1 
Problem2: For the 3 Revolute Joints robot of Figure, assign the necessary coordinate systems
based on the D-H representation, fill out the parameters table, and derive the forward
kinematic equations for the robot.
Y2
Z0 Z1 An=0T2=A0 x A1 x A2
X2
d2
X0 X1
Y0 Y1
i (i-1) a(i-1) di i
a0 a1
Notice that the table has two uses: 0 0 0 0 0
1) To describe the robot with its variables and parameters.

1 0 a0 0 1
2) To describe some state of the robot by having a
numerical values for the variables. 2 -90 a1 d2 2

Problem2: Mathematical representation
 cosθ 2 − sinθ 2 0 a1 
cosθ0 − sinθ0 0 0  0
 sinθ 1 d 2 
0  0
2T =
1
 cosθ0 0
0T =
0
− sinθ 2 − cosθ 2 0 0 T =( 0T)(01T)(12T)
 0 0 1 0  
   0 0 0 1
 0 0 0 1
This is a translation by a1 and then d2
This is just a rotation around the Z0 axis followed by a rotation around the X2 and
Z2 axis
cosθ1 − sinθ1 0 a0  i (i-1) a(i-1) di i
 sinθ cosθ1 0 0 
0
T =  1 0 0 0 0 0
1
 0 0 0 0
  1 0 a0 0 1
 0 0 0 1
This is a translation by a0 followed by a 2 -90 a1 d2 2
rotation around the Z1 axis
Example: Three-Link Cylindirical Manipulator
Link ai αi di θi
Link Parameters
1 0 0 d1 θ1
2 0 -90 d2 0
3 0 0 d3 0
c1 − s1 0 0 1 0 0 0 1 0 0 0
s c1 0 0  0 0 1 0  0 1 0 0 
A1 =  1 A2 =  A3 = 
0 0 1 d1  0 − 1 0 d2  0 0 1 d3 
     
0 0 0 1 0 0 0 1 0 0 0 1
c1 0 − s1 − s1d 3 
s 0 c c d 
T30 = T = A1A 2 A 3 =  1 1 1 3 
 0 − 1 0 d1 + d 2 
 
0 0 0 1 

SCARA MANIPULATOR:
Link ai αi di θi
1 a1 0 0 θ1
2 a2 180 0 θ2
3 0 0 d3 0
4 0 0 d4 θ4
c1 − s1 0 a1c1  c 2 s2 0 a 2c 2  1 0 0 0
s c1 0 a1s1  s − c2 0 a 2s 2  0 1 0 0 
A1 =  1 A2 =  2 A3 = 
0 0 1 0  0 0 −1 0  0 0 1 d3 
     
0 0 0 1  0 0 0 1  0 0 0 1
c 4 − s4 0 0
s c4 0 0  The forward kinematic equations are given
A4 =  4 by
0 0 1 d4 
 
0 0 0 1
c12c 4 + s12s 4 − c12s 4 + s12c 4 0 a1c1 + a 2c12 

s c − c s − s12s 4 − c12c 4 0 a1s1 + a 2s12 
T4 = A1A 2 A 3A 4 =  12 4 12 4
0
 0 0 − 1 − d3 − d 4 
 
 0 0 0 1 

Ex: Two-link planar RR arm (Planar Elbow Manipulator)
a2 θ2
a1
θ1
Arm schematic
Link ai αi di θi
1 a1 0 0 θ1
2 a2 0 0 θ2
cos 1 − sin 1 0 a1 cos 1  cos 2 − sin 2 0 a 2 cos 2 
 sin  cos 1 0 a1 sin 1   sin  cos 2 0 a 2 sin 2 
A1 =  1
A2 =  2
 0 0 1 0   0 0 1 0 
   
 0 0 0 1   0 0 0 1 
The arm T matrix is given by

c12 -s12
cos(1 + 2 ) − sin (1 + 2 ) 0 a1 cos 1 + a 2 cos(1 + 2 )
 sin ( +  ) cos( +  ) 0 a1 sin 1 + a 2 sin (1 + 2 ) 
T = A1A 2 =  1 2 1 2
 0 0 1 0 
 
 0 0 0 1 
This represents the kinematic solution, which converts the joint variable
coordinates (θ1, θ2) into the base-frame Cartesian coordinates of the end of
the arm.
The origin O2 of frame 2 in terms of base coordinates is located at
p = a1 cos 1 + a 2 cos(1 + 2 ) a1 sin 1 + a 2 sin (1 + 2 ) 0 T

a1=1 m, a2=0.5 m, θ1=30°, θ2=60°
A1=
A2=
T=A1*A2=
cos(90) − sin (90) 0 1* cos 30 + 0.5 * cos(90)

 sin (90) cos(90) 0 1* sin 30 + 0.5 * sin (90) 
 
 0 0 1 0 
 
 [email protected]
B.N.Dhanunjayarao, Email: 0 0 0 1 
Problem3:For the SCARA robot of Figure, assign the necessary coordinate systems based on
the D-H representation, fill out the parameters table, and derive the forward kinematic
equations for the robot.
An=0T4=A1 x A2 x A3 x A4

Problem3: Mathematical representation of SCARA robot
i-1–> (zi-1, zi) xi-1 ai-1–> (zi-1, zi) xi-1
0–> (z0, z1) a0–> (z0, z1)
1–> (z1, z2) a1–> (z1, z2)
2–> (z2, z3) a2–> (z2, z3)
3–> (z3, z4) a3–> (z3, z4)
di–> (xi-1, xi) zi-1 𝜽i–> (xi-1, xi) zi-1

d1–> (x0, x1) 𝜽1–> (x0, x1)
d2–> (x1, x2) 𝜽2–> (x1, x2)
d3–> (x2, x3) 𝜽3–> (x2, x3)
d4–> (x3, x4) 𝜽4–> (x3, x4)
𝒊 𝒊-1 a𝒊-1 d𝒊 𝜽𝒊
1 0 0 0 𝜽1
2 0 a1 0 𝜽𝟐
3 0 a2 d3 0
4 0 0 0 𝜽𝟒

UNIT-2 Motion Analysis and Kinematics

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UNIT-2_RBT_MOTION ANALYSIS & MANIPULATOR KINEMATICS

Robot Reference Frames

tx, ty are translation parameters with

P(x,y) is Point before Translation

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

 x   1 0 tx  cos θ - sinθ 0  sx 0 0   x 

2D Rotation transformations can be represented with a 2×2 matrix?

x = cos   x − sin   y  x  cos  − sin    x 

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

Solution: The operator T , which performs the translation and rotation, is

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

Each joint has a joint axis with

B.N.Dhanunjayarao, Email: [email protected]

An n-DOF manipulator arm

To describe the position and orientation of a link in space, a coordinate frame is

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Industrial robots (links are usually

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B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

Commonly, only 𝜃 & d are joint

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Assigning frame to link 0, the immobile base - frame {0}

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B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

B.N.Dhanunjayarao, Email: [email protected]

1. Rotate about the z0-axis an angle of θ1 to make x0

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The forward kinematic

The forward kinematic

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cos(90) − sin (90) 0 1* cos 30 + 0.5 * cos(90)

1) To describe the robot with its variables and parameters.

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B.N.Dhanunjayarao, Email: [email protected]

c12c 4 + s12s 4 − c12s 4 + s12c 4 0 a1c1 + a 2c12 

B.N.Dhanunjayarao, Email: [email protected]

The arm T matrix is given by

The origin O2 of frame 2 in terms of base coordinates is located at