Unit 2 (Finite Transformation)

14MTT72 INDUSTRIAL ROBOTICS
COURSE OUTCOMES
On completion of the course the students will be able to
CO1: Interpret the features of an industrial robot

CO2: Estimate the gripping force of robot end effector
CO3: Develop the forward and inverse kinematics for serial manipulator
CO4: Analyse the velocity and static force of serial manipulators
CO5: Formulate robot dynamics and trajectory
UNIT – I 9
Introduction: History of robotics – Components of industrial robot - Degree of Freedom – Type
of Joints - Classification of robots – Work volume - Reference frames – Programming modes -
Robot specifications - Precision of movements: Accuracy, resolution, repeatability and dexterity –
Singularity – Robot languages - Robot applications.
UNIT – II 9
End Effectors: Types of end effectors - Mechanical Gripper -
Vacuum cup - Magnetic gripper - Special types of grippers-
Gripper force analysis. Frame Transformation: Descriptions:
Position, Orientation and Frames - Matrix representation: Point,
vector, frame and rigid body - Homogeneous Transformation
matrices – Representation: Translation, Rotational and Combined
transformation – simple problems.
UNIT – III 9
Robot Kinematics: Forward and inverse kinematics – Equations for position and orientation –
Denavit- Hartenberg Representation of forward kinematic equations: Two and Three link planer,
PUMA and SCARA - Inverse kinematic equation: Two and three link planer.
UNIT – IV 9
Velocity and Static Force: Introduction - Linear and angular velocities of a rigid body
- Velocity propagation – Derivation of the Jacobian for serial manipulator –
Identification of Singularities - Static force analysis of serial manipulator.
UNIT – V 9
Robot Dynamics: Acceleration of a rigid body - Inertia of a link - Equation of motion:
Legrangian formulation – Euler- Lagrange formulation - Newton Euler formulation.
Trajectory Planning: Joint space trajectory: Point to point and Continuous path
planning - Cartesian space trajectory – Simple problems.
TOTAL: 45
BOOKS:
1. Groover M.P., “Industrial Robotics, Technology, Programming and Applications”,
2nd Edition, Tata Mcgraw-Hill, New Delhi, 2012.
2. Saeed B. Niku, “Introduction To Robotics: Analysis, Control,

Applications”, 2nd Edition, Wiley India Pvt. Limited, 2012.
3. Craig John J., “Introduction to Robotics: Mechanics and Control”, 3 rd Edition,
Pearson Education, New Delhi, 2005.
Conventions for Describing Vectors,
Frames & Transformations
( - Transformation of robot relative to the Universe,

where Universe is a fixed frame)
4
Representation of a Point in Space
5
Representation of a Vector in Space
Vector starts at point A and ends at point B:
PAB = (Bx – Ax) i + (By – Ay) j + (Bz – Az) k
Vector starts at origin:

P= axi + byj + czk
6
Vector starts at origin: P= axi + byj + czk
Vector in matrix form :
By including a scale factor w:
7
Scaling Factor : W
• Any number and, as it changes, it can change the overall

size of the vector (similar to the zooming function in
computer graphics)
• w > 1 --- All vector components enlarge
• w < 1 --- All vector components become smaller
• w = 1 --- Size of these components remains unchanged
• w = 0 --- ax, by, and cz will be infinity --- Representation of
Direction vector
8
A vector is described as P = 3i + 5j + 2k.
Express the vector in matrix form: (a) With a
scale factor of 2. (b) If it were to describe a
direction as a unit vector.
(a)
P=
P x = ax X w = 3 X 2 = 6
Py = by X w = 5 X 2 = 10
Pz = c z X w = 2 X 2 = 4
9
(b) Punit =
10
A vector p is 5 units long and
is in the direction of a unit
vector q described below.
Express the vector in matrix
form.
11
x, y, z -- Fixed Universe reference frame (Fxyz)
n, o, a - Moving frame (Fnoa) relative to the reference frame

n - normal
o - orientation
a - approach
a-axis :
Approach-axis
o-axis :
Orientation-axis
n-axis :
Normal axis
12
Representation of a Frame at the Origin of
a Fixed Reference Frame
13
Representation of a Frame Relative to a
Fixed Reference Frame
14
Representation of a Rigid Body
15
Homogeneous Transformation Matrices
Orientation Position
16
17
18
19
Representation of a Pure Rotation about an Axis
20
Rotational Matrix
21
22
Representation of Combined Transformations
Three successive transformations relative to the reference
frame Fxyz:
1. Rotation of α degrees about the x-axis
2. Followed by a translation of (l1,l2,l3) (relative to the x, y and

z axes respectively)
3. Followed by a rotation of β degrees about the y-axis.
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14MTT72 INDUSTRIAL ROBOTICS

CO1: Interpret the features of an industrial robot

2. Saeed B. Niku, “Introduction To Robotics: Analysis, Control,

( - Transformation of robot relative to the Universe,

Vector starts at origin:

Vector starts at origin: P= axi + byj + czk

Vector in matrix form :

By including a scale factor w:

• Any number and, as it changes, it can change the overall

n, o, a - Moving frame (Fnoa) relative to the reference frame

2. Followed by a translation of (l1,l2,l3) (relative to the x, y and

3. Followed by a rotation of β degrees about the y-axis.

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