TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL AND

ELECTRONICS ENGINEERING

403050

ROBOTICS
TRI Q. THIEU, M.Eng.
 COURSE OBJECTIVES

Know the mechanical models and

parameters calculation in robotics;
controllers and actuators in industrial
robots.
Ability to analyze robots’ structures and
select robots’ controllers.
Improve structures of robots for meeting
the project’s requirements.

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 LEARNING OUTCOMES

Remember the basic concepts of

position and orientation, actuators and
controllers in robotics.
Understand the concepts of
transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
10/5/2016 403050 - Robotics 3
 LEARNING OUTCOMES

Test the robot's DH parameters, the

results of forward and inverse
kinematics problems.
Recommend a basic controller for
robots.
Evaluate the robot’s responses.
Recommend the structure/program of
the robot to meet the requirements of
the system.
10/5/2016 403050 - Robotics 4
 LEARNING OUTCOMES

 Select the robot's structure for specific

problem.
 Select the operation of robots for specific
tasks.
 Apply the ability to communicate and work
with in team effectively.
 Use time and resources effectively.
 (HQ) Self-investigate, research, improve
professional skills to be able to solve
urgent social problems related to the
subject.

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 COURSE CONTENT

Transformations.
Finding the DH parameter of robots.
Finding the kinematics equations of
robots.
Solving the kinematics equations of
robots.
Planning the robot’s trajectory.
Chosing the sensors and actuators.
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 TEXTBOOKS AND REFERENCES

 TEXTBOOKS:
[1]. John J. Craig, [2014], Introduction
to robotics: mechanics and control, 3e,
Pearson.
 RECOMMENDED
REFERENCES:
[2]. Carl D. Crane III, Joseph Duff, [1998],
Kinematic analysis of robot manipulators,
Cambridge University Press.
[3]. Phillip John McKerrow, [1991],
Introduction to robotics, Addison-Wesley
Publishing.

10/5/2016 403050 - Robotics 7

 TEXTBOOKS AND REFERENCES

OTHER REFERENCES:

• [4]. Phạm Đăng Phước, [2006], Robot công

nghiệp, NXB Khoa học kỹ thuật, Hà Nội.

• [5]. Đào Văn Hiệp, [2003], Kỹ thuật robot,

NXB Khoa học kỹ thuật, Hà Nội.

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 REQUIREMENTS

 Attend at least 80% of classes. Being late 02 times

is equivalent to 01 absence.
 Students who fail to achieve at least 80% of the
requirement will be prohibited from taking the final
exam.
 Read and master the information given in Course
syllabus (download from Library web site).
 Read lecture notes/slides, textbook and references
before coming to class. Frequently use library
resources frequently.
 Take the lecture seriously, actively participate in
class activities proposed by the instructor.
 Submit assigned homeworks and projects in time.

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 GRADING POLICY

EXAMS:
• Final exam: 50% - Multiple choice question,
Constructed response test.
IN-CLASS TEST AND ASSIGNMENTS:
• In-class process exercise: 20% - individually.
• Essay: 30% - group.
Bonus points for students who actively
participate in class activities.

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 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 1

INTRODUCTION
403050 - ROBOTICS
 CHAPTER 1: INTRODUCTION

1.1 Background
1.2 Definitions
1.3 Notations
1.4 Classification

10/5/2016 403050 - Introduction 2

 LEARNING OUTCOMES

Remember the basic concepts of

position and orientation, actuators and
controllers in robotics.
Understand the concepts of
transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
10/5/2016 403050 - Introduction 3
 OBJECTIVES

Understand basic definitions in robotics

such as:
• Position and orientation.
• Forward and inverse kinematics of
manipulators.
• Trajectory and so on.
Remember the notations in this course.
Know how to classify robots based on
their structures.
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 CHAPTER 1: INTRODUCTION

1.1 Background
1.2 Definitions
1.3 Notations
1.4 Classification

10/5/2016 403050 - Introduction 5

 1.1 BACKGROUND

According to the “Robot Institute of

America,” 1979, A robot is defined as:
• Reprogrammable.
• Multifunctional manipulator designed to move
material, parts, tools, or specialized devices
through various programmed.
• Performance of a variety of tasks.

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 1.1 BACKGROUND

According to the Webster dictionary

(1993), A robot is:
• An automatic device
• Can performs functions normally ascribed to
humans or a machine
• Have the form of a human.

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 A BRIEF HISTORY OF
ROBOTICS

1495: Leonardo DaVinci designs a

mechanical device that looks like an
armored knight.

1898: Nikola Tesla builds and

demonstrates a remote controlled robot
boat at Madison Square Garden.

10/5/2016 403050 - Introduction 8

 A BRIEF HISTORY OF
ROBOTICS

1921: Czech writer Karel Capek

introduced the word “Robot” in his play
“R.U.R” (Rossuum's Universal Robots).

1942: Asimov is generally credited with

the popularization of the term “Robotics”
in his story “Runaround”

10/5/2016 403050 - Introduction 9

 A BRIEF HISTORY OF
ROBOTICS

Issac Asimov's Three Laws of Robotics:

• A robot may not injure a human being, or,
through inaction, allow a human being to
come to harm.
• A robot must obey the orders given it by
human beings except where such orders
would conflict with the First Law.
• A robot must protect its own existence as
long as such protection does not conflict with
the First or Second Law.

10/5/2016 403050 - Introduction 10

 A BRIEF HISTORY OF
ROBOTICS

1959: John McCarthy and Marvin

Minsky start the Artificial Intelligence
Laboratory at the Massachusetts
Institute of Technology (MIT).
1966: An artificial intelligence program
named ELIZA is created at MIT by
Joseph Weizenbaum.
1969: Stanford Arm was created.
2000: Honda debuts new humanoid
robot ASIMO.
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 CHAPTER 1: INTRODUCTION

1.1 Background
1.2 Definitions
1.3 Notations
1.4 Classification

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 1.2 DEFINITIONS

1.2.1 Degree of freedom (DoF)

The number of independent position variables

that would have to be specified in order to
locate all parts of the mechanism.
5
W  6n   ipi
i 1

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 1.2 DEFINITIONS

1.2.1 Degree of freedom (DoF)

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 1.2 DEFINITIONS

1.2.2 Space coordinates

• A coordinate system are used for
representing positions and orientations of
parts, tools and the mechanism itself.
• The universe coordinate system is the one
where all positions and orientations can be
referenced.
• Each rigid body is attached to one coordinate
system.

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 1.2 DEFINITIONS

1.2.3 Position and orientation

• The location of objects in three-dimensional
space can be described by their positions
and orientations.
• A coordinate system, or frame, is attached
rigidly to the object.
• Describe the position and orientation of this
frame with respect to some reference
coordinate system.

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 1.2 DEFINITIONS

1.2.4 Forward kinematics

of manipulators

Determine the position and

orientation of the robot’s
hand if all joint variables are
known.

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 1.2 DEFINITIONS

1.2.5 Inverse kinematics

of manipulators

Finding the joint variables

if we desire that the hand
will be located at a
particular point.

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 1.2 DEFINITIONS

1.2.6 Velocities and static force

• In some circumstances, analyzing the motion
of manipulators is considered.
• The Jacobian specifies a mapping from
velocities in joint space to velocities in
Cartesian space.
• Sometimes, manipulators are required a
touch action or applying a static force.

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 1.2 DEFINITIONS

1.2.7 Dynamics
• Dynamics is a huge field of study devoted to
studying the forces required to cause motion.
• Controlling a manipulator to follow a desired
path
• Calculating these actuator torque functions
by using the dynamic equations of motion of
the manipulator.

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 1.2 DEFINITIONS

1.2.8 Trajectory generation

• To move the manipulator on its path

smoothly, each joint commonly starts and
ends its motion at the same time.

• How to compute these joints’ motion

functions is the problem of trajectory
generation.

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 CHAPTER 1: INTRODUCTION

1.1 Background
1.2 Definitions
1.3 Notations
1.4 Classification

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 1.3 NOTATIONS

Variables written in uppercase represent

vectors or matrices. Lowercase
variables are scalars.
Leading subscripts and superscripts
identify which coordinate system a
quantity in written in. (AP, BAR)
Trailing superscripts are used for
indicating inverse or transpose of a
matrix (e.g. R-1, RT)
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 1.3 NOTATIONS

Trailing subscripts may indicate a vector

component (e.g. x, y or z) or a
description (Pbolt).
The cosine of an angle 1 may take any
of the following form: cos 1 = c1 = c1.
Vectors are taken to be column vectors;
row vectors will have the transpose
indicated explicitly.

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 CHAPTER 1: INTRODUCTION

1.1 Background
1.2 Definitions
1.3 Notations
1.4 Classification

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 1.4 CLASSIFICATION

ROBOTS

Robot like Coordinate Human like robots:

devices: system Humanoids,
Prostheses based robots: Androids,
Exoskeletons Cylindrical Actroids,
Telecherics Spherical Geminoids,Gynoids
Cartesian

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 SUMMARY

DoF(s)
Space coordinate, position and
orientation.
Forward and inverse kinematics
Velocity and static force
Dynamic
Trajectory

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 REQUIREMENTS

Read slides of chapter 2.

Read textbook book [1]: 19-61
Read reference book [2]: 4-19
Read reference book [3]: 131-174
Students look for these material on the
library and official website.

10/5/2016 403050 - Introduction 28

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 2
SPATIAL DESCRIPTIONS
AND TRANSFORMATIONS

403050 - ROBOTICS
 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.1 Descriptions: positions, orientations

and frames
2.2 Changing descriptions from frame to
frame
2.3 Transformations
2.4 Transformation arithmetic

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 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.5 Transformation matrix

2.6 Roll-Pitch-Yaw transformation
2.7 Euler transformation
2.8 Problems

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 LEARNING OUTCOMES

Remember the basic concepts of

position and orientation, actuators and
controllers in robotics.
Understand the concepts of
transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
10/5/2016 403050 - Spatial descriptions and transformations 4
 OBJECTIVES

Understand the definitions of positions,

orientations and frames of robots.

Understand and remember the

operations such as translations,
rotations and transformations.

10/5/2016 403050 - Spatial descriptions and transformations 5

 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.1 Descriptions: positions, orientations

and frames
2.2 Changing descriptions from frame to
frame
2.3 Transformations
2.4 Transformation arithmetic

10/5/2016 403050 - Spatial descriptions and transformations 6

 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

A description is used to specify attributes

of various objects such as parts, tools
and the manipulator itself.

We will discuss the description of

positions, orientations and an entirely
that contains both of these descriptions:
the frame.

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.1 Description of positions

• We can locate any points with a 3x1 position
vector reference to a coordinate system. For
example, AP.
𝑃𝑥
𝐴
𝑃 = 𝑃𝑦
𝑃𝑧

Where Px, Py and Pz indicate distances along the

axes of a coordinate system, {A}

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.1 Description of positions

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

• To describe a body in space, its orientation

must be defined.

• To describe the orientation of a body:

A coordinate system is attached to it
Describing this coordinate system relative to the
reference system.

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

• In the figure, coordinate system {B} has been

attached to the robot hand.

• A description of {B} relative to {A} will give the

orientation of the hand.

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations
• We denote:
The unit vectors 𝑋෠ 𝐵, 𝑌෠ 𝐵 and 𝑍መ 𝐵 giving the
directions of coordinate system {B}.
These vectors are call 𝐴𝑋෠ 𝐵, 𝐴𝑌෠ 𝐵 and 𝐴𝑍መ 𝐵 in terms
of coordinate system {A}.

• Thus, the rotation matrix is:

𝐴 ෠ ෠ መ
𝐵𝑅 = 𝐴𝑋 𝐴𝑌 𝐴𝑍
𝐵 𝐵 𝐵

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

𝑟11 𝑟12 𝑟13

𝐴 ෠ ෠ መ
𝐵𝑅 = = 𝑟21 𝑟22 𝑟23
𝐴𝑋 𝐴𝑌 𝐴𝑍
𝐵 𝐵 𝐵
𝑟31 𝑟32 𝑟33

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations
• Where the scalars rij can be calculated by
scalar multiply unit vectors 𝑋෠ 𝐵, 𝑌෠ 𝐵 and 𝑍መ 𝐵 to
the unit directions of its reference frame.

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

So:

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.2 Orientations

Hence,

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.3 Frames
• A frame is a set of four vectors giving position
and orientation information.
• It can be described as a rotation matrix and a
position vector.

Ex:

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 2.1 DESCRIPTIONS: POSITIONS,
ORIENTATIONS AND FRAMES

2.1.3 Frames

10/5/2016 403050 - Spatial descriptions and transformations 19

 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.1 Descriptions: positions, orientations

and frames
2.2 Changing descriptions from frame to
frame
2.3 Transformations
2.4 Transformation arithmetic

10/5/2016 403050 - Spatial descriptions and transformations 20

 2.2 CHANGING DESCRIPTIONS
FROM FRAME TO FRAME

In many problems, expressing the same

quantity in terms of various reference
coordinate systems is concerned.
• Mappings involving translated frames.
• Mappings involving rotated frames.
• Mappings involving general frames.

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 MAPPINGS INVOLVING
TRANSLATED FRAMES

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 MAPPINGS INVOLVING
ROTATED FRAMES

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 MAPPINGS INVOLVING
ROTATED FRAMES

Example 2.1
The figure shows a frame
{B}, which is rotated
relative to frame {A}
about 𝑍መ by 30 degrees.
Here, 𝑍መ is pointing out of
the page. Find AP.

Where BP = [0 2 0]T.

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 MAPPINGS INVOLVING
GENERAL FRAMES

The position of point P in frame {B} can

be found:

Or:

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 MAPPINGS INVOLVING
GENERAL FRAMES

Defining a 4x4 matrix operator and use

4x1 position vectors. So the previous
equation can be written:

This 4x4 matrix is called a

homogeneous transform.

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 MAPPINGS INVOLVING
GENERAL FRAMES

Example 2.2

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 MAPPINGS INVOLVING
GENERAL FRAMES

Example 2.2
The figure shows a frame {B}, which is:
• Rotated relative to frame {A} about 𝑍መ by 30
degrees
• Translated 10 units in 𝑋෠ 𝐴
• And translated 5 units in 𝑌෠ 𝐴
Find AP.

Where BP = [3 7 0]T.

10/5/2016 403050 - Spatial descriptions and transformations 28

 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.1 Descriptions: positions, orientations

and frames
2.2 Changing descriptions from frame to
frame
2.3 Transformations
2.4 Transformation arithmetic

10/5/2016 403050 - Spatial descriptions and transformations 29

 2.3 TRANSFORMATIONS

2.3.1 Translational operators.

• A point is moved in space a finite distance

along a given vector direction.

• It have the same mathematics as mapping

the point to a second frame.

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 2.3 TRANSFORMATIONS

2.3.1 Translational operators.

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 2.3 TRANSFORMATIONS

2.3.1 Translational operators.

𝐴𝑃 = 𝐴𝑃1 + 𝐴𝑄
2
Or:
𝐴𝑃 = 𝐷𝑄 𝑞 . 𝐴𝑃1
2

Where q is the signed magnitude of the

෠
translation along the vector direction 𝑄.

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 2.3 TRANSFORMATIONS

2.3.1 Translational operators.

The DQ operator is a homogeneous transform:

1 0 0 𝑞𝑥
𝐷𝑄 𝑞 = 0 1 0 𝑞𝑦
0 0 1 𝑞𝑧
0 0 0 1
Where:
𝑞= 𝑞𝑥2 + 𝑞𝑦2 + 𝑞𝑧2

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 2.3 TRANSFORMATIONS

2.3.2 Rotational operators.

When a vector AP1 is changed to a new vector
AP by a rotational operator, represented by a
2
rotation matrix R, the can be calculated by:

𝐴𝑃
2 = 𝑅𝐾  . 𝐴𝑃1

Where 𝑅𝐾  is a rotational operator that

෡
performs a rotation about the axis direction 𝐾
by  degree.
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 2.3 TRANSFORMATIONS

2.3.2 Rotational operators.

Rotation matrix about the 𝑋෠ axis by  degree:

1 0 0 0
𝑅𝑋  = 0 c −𝑠 0
0 𝑠 𝑐 0
0 0 0 1

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 2.3 TRANSFORMATIONS

2.3.2 Rotational operators.

Rotation matrix about the 𝑌෠ axis by  degree:

𝑐 0 𝑠 0
𝑅𝑌  = 0 1 0 0
−𝑠 0 𝑐 0
0 0 0 1

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 2.3 TRANSFORMATIONS

2.3.2 Rotational operators.

Rotation matrix about the 𝑍መ axis by  degree:

𝑐 −𝑠 0 0
𝑅𝑍  = 𝑠 c 0 0
0 0 1 0
0 0 0 1

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 2.3 TRANSFORMATIONS

 We denote a general transformation

operator (included any translations or
rotations) as T.
 T is a 4x4 matrix:
𝑟11 𝑟12 𝑟13 𝑝𝑥
𝑅(3𝑥3) 𝑃(3𝑥1) 𝑟23 𝑝𝑦
𝑇= = 𝑟21 r22
0 0 0 1 𝑟31 𝑟32 𝑟33 𝑝𝑧
0 0 0 1
 𝐵𝐴𝑇 describes the frame {B} relative to {A}.

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 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.1 Descriptions: positions, orientations

and frames
2.2 Changing descriptions from frame to
frame
2.3 Transformations
2.4 Transformation arithmetic

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 2.4 TRANSFORMATION
ARITHMETIC

Compound transform.
Find AP if CP is known.

𝐴𝑃 = 𝐴𝐶𝑇. 𝐶𝑃

Where,

𝐴
𝐶𝑇 = 𝐵𝐴𝑇. 𝐵𝐶𝑇

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 2.4 TRANSFORMATION
ARITHMETIC

Inverting a transform.
If 𝐵𝐴𝑇 is a homogeneous transform matrix, it
can be proved that:
𝐵
𝐴𝑇 = 𝐵𝐴𝑇 −1

Or:

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 TRANSFORMATION
EQUATIONS

Consider the situation in which a frame

{D} can be expressed as products of
transformations in two different ways:
𝑈 𝑈 𝐴
𝐷 𝑇 = 𝐴 𝐷𝑇
𝑇.
and,
𝑈
𝐷𝑇 = 𝑈𝐵𝑇. 𝐵𝐶 𝑇. 𝐷𝐶𝑇

Then
𝑈 𝐴
𝐴 𝐷𝑇
𝑇. = 𝑈𝐵𝑇. 𝐵𝐶𝑇. 𝐷𝐶𝑇

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 TRANSFORMATION
EQUATIONS

Set of transforms forming a loop.

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 TRANSFORMATION
EQUATIONS

Example:

Find the transforms

matrix 𝐵𝑇𝑇 if the
manipulator reaches
the bolt.

𝐵
𝑆𝑇 and 𝐺𝑆𝑇 are known.

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 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.5 Transformation matrix

2.6 Roll-Pitch-Yaw transformation
2.7 Euler transformation
2.8 Problems

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 2.5 TRANSFORMATION
MATRIX

2.5.1 Vectors and matrices calculation.

Consider two vectors:

𝑎Ԧ = 𝑎𝑥 𝑖Ԧ + 𝑎𝑦 𝑗Ԧ + 𝑎𝑧 𝑘
𝑏 = 𝑏𝑥 𝑖Ԧ + 𝑏𝑦 𝑗Ԧ + 𝑏𝑧 𝑘
The scalar multiply of these two vectors is:
𝑎. 𝑏 = 𝑎𝑥 𝑏𝑥 + 𝑎𝑦 𝑏𝑦 + 𝑎𝑧 𝑏𝑧
Two vectors are orthogonal if its scalar
multiply is equal to zero.

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 2.5 TRANSFORMATION
MATRIX

2.5.1 Vectors and matrices calculation.

The multiply of these two vectors is:

𝑖Ԧ 𝑗Ԧ 𝑘
𝑎Ԧ × 𝑏 = 𝑎𝑥 𝑎𝑦 𝑎𝑧
𝑏𝑥 𝑏𝑦 𝑏𝑧

𝑎Ԧ × 𝑏
= 𝑎𝑦 𝑏𝑧 − 𝑎𝑧 𝑏𝑦 𝑖Ԧ + 𝑎𝑧 𝑏𝑥 − 𝑎𝑥 𝑏𝑧 𝑗Ԧ + 𝑎𝑥 𝑏𝑦 − 𝑎𝑦 𝑏𝑥 𝑘

10/5/2016 403050 - Spatial descriptions and transformations 47

 2.5 TRANSFORMATION
MATRIX

2.5.1 Vectors and matrices calculation.

Consider matrix A, B, C and I (unit matrix),
and scalar k.
A.B B.A
A.I=I.A=A
(k.A).B=k.(A.B)=A.(k.B)
A.B.C=A.(B.C)=(A.B).C
(A+B).C=A.C+B.C

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 2.5 TRANSFORMATION
MATRIX

2.5.2 Transformation matrix.

There are some characteristics in the
3x3 orientation (or rotation) matrix:
• All columns are mutually orthogonal and
have unit magnitude.
• All rows are mutually orthogonal and have
unit magnitude.
• The determinant of a rotation matrix is always
equal to +1.

10/5/2016 403050 - Spatial descriptions and transformations 49

 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.5 Transformation matrix

2.6 Roll-Pitch-Yaw transformation
2.7 Euler transformation
2.8 Problems

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

This transformation can be called X-Y-Z

fixed angles.

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

This transformation can be called X-Y-Z

fixed angles.
This transformation describes the
orientation of frame {B} which is rotates:
• Start with the frame coincident with a known
reference frame {A}.
• First, rotate {B} about 𝑋෠𝐴 by angle .
• Next, rotate {B} about 𝑌෠𝐴 by angle .
• Finally, rotate {B} about 𝑍መ𝐴 by angle .

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

10/5/2016 403050 - Spatial descriptions and transformations 53

 2.6 ROLL-PITCH-YAW
TRANSFORMATION

This transformation is represented by a

rotation matrix 𝐵𝐴𝑅𝑋𝑌𝑍 𝛾, 𝛽, 𝛼 .

Where:
𝐴
𝐵 𝑅𝑋𝑌𝑍 𝛾, 𝛽, 𝛼 = 𝑅𝑍 𝛼 𝑅𝑌 𝛽 𝑅𝑋 𝛾

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

Hence:

This is the rotation matrix of the Roll-

Pitch-Yaw transformation.

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

To solve the inverse problem, nine

equations must be solved to find three
variables ,  and .
If we have:
𝑟11 𝑟12 𝑟13
𝐴
𝐵 𝑅𝑋𝑌𝑍 𝛾, 𝛽, 𝛼 = 𝑟21 𝑟22 𝑟23
𝑟31 𝑟23 𝑟33

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

To solve the inverse problem, nine

equations must be solved to find three
variables ,  and .
This mean:

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

By solving those equations we have:

Where Atan2(y,x) is a two-argument arc

tangent function.

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 2.6 ROLL-PITCH-YAW
TRANSFORMATION

If  = 90o then the solution can be:

If  = -90o then the solution can be:

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 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.5 Transformation matrix

2.6 Roll-Pitch-Yaw transformation
2.7 Euler transformation
2.8 Problems

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 2.7 EULER
TRANSFORMATION

The first Euler transformation can be

called Z-Y-X Euler angles.
This transformation describes the
orientation of frame {B} which is rotates:
• Start with the frame coincident with a known
reference frame {A}.
• First, rotate {B} about 𝑍መ𝐵 by angle .
• Next, rotate {B} about 𝑌෠𝐵 by angle .
• Finally, rotate {B} about 𝑋෠𝐵 by angle .

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 2.7 EULER
TRANSFORMATION

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 2.7 EULER
TRANSFORMATION

This transformation is represented by a

rotation matrix 𝐵𝐴𝑅𝑍 ′𝑌 ′𝑋 ′ 𝛾, 𝛽, 𝛼 .

Where we still have the same result as

the R-P-Y transform.

𝐴
𝐵 𝑅𝑍 ′ 𝑌 ′ 𝑋 ′ 𝛾, 𝛽, 𝛼 = 𝑅𝑍 𝛼 𝑅𝑌 𝛽 𝑅𝑋 𝛾

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 2.7 EULER
TRANSFORMATION

Hence:

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 2.7 EULER
TRANSFORMATION

Another Euler transformation can be

called Z-Y-Z Euler angles.
This transformation describes the
orientation of frame {B} which is rotates:
• Start with the frame coincident with a known
reference frame {A}.
• First, rotate {B} about 𝑍መ𝐵 by angle .
• Next, rotate {B} about 𝑌෠𝐵 by angle .
• Finally, rotate {B} about 𝑍መ𝐵 by angle .

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 2.7 EULER
TRANSFORMATION

This transformation is represented by a

rotation matrix 𝐵𝐴𝑅𝑍 ′𝑌 ′𝑍′ 𝛼, 𝛽, 𝛾 .

Where:

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 2.7 EULER
TRANSFORMATION

Doing the same thing to solve the

inverse problem of this transform.

If the rotation matrix is given:

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 2.7 EULER
TRANSFORMATION

Then, if sin()  0, the solution will be:

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 2.7 EULER
TRANSFORMATION

If  = 0o then the solution can be:

If  = 180o then the solution can be:

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 CHAPTER 2: SPATIAL
DESCRIPTIONS AND
TRANSFORMATIONS

2.5 Transformation matrix

2.6 Roll-Pitch-Yaw transformation
2.7 Euler transformation
2.8 Problems

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 2.8 PROBLEMS

Exercise 2.1, 2.2, 2.3, 2.4, 2.12, 2.13,

2.27-34, 2.37

Matlab exercise 2A and 2B

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 SUMMARY

Translational and rotational operators

Transformation arithmetic

RPY transformation

Euler transformation

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 REQUIREMENTS

Read Slides of chapter 3.

Read textbook book [1]: 62-100
Read reference book [2]: 20-43
Read reference book [3]: 175-201
Students look for these material on the
library and official website.

10/5/2016 403050 - Spatial descriptions and transformations 73

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 3
MANIPULATOR
KINEMATICS
403050 - ROBOTICS
 CHAPTER 3: MANIPULATOR
KINEMATICS

3.1 Introduction
3.2 Links description
3.3 Joints description
3.4 Convention for affixing frames to links

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 CHAPTER 3: MANIPULATOR
KINEMATICS

3.5 Denavit-Hartenberg parameters

3.6 Kinematics equations
3.7 Examples of industrial robots
3.8 Problems

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 LEARNING OUTCOMES

Understand the concepts of

transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
Test the robot's DH parameters, the
results of forward and inverse
kinematics problems.
10/5/2016 403050 - Manipulator kinematics 4
 LEARNING OUTCOMES

Evaluate the robot’s responses.

Recommend the structure/program of
the robot to meet the requirements of
the system.
Select the robot's structure for specific
problem.
Apply the ability to communicate and
work with in team effectively.
Use time and resources effectively.

10/5/2016 403050 - Manipulator kinematics 5

 OBJECTIVES

Understand the links and joints in robots.

Know how to get the Denavit-Hartenberg

parameter.

Know how to solve the manipulator

kinematics.

10/5/2016 403050 - Manipulator kinematics 6

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.1 Introduction
3.2 Links description
3.3 Joints description
3.4 Convention for affixing frames to links

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 3.1 INTRODUCTION

Kinematics is the science of motion that

treats the subject regardless the forces
that cause it.
The study of the kinematics of
manipulators refers to all the geometrical
and time-based properties of the motion.
This chapter presents positions and
orientations of manipulator linkages in
static situations.
10/5/2016 403050 - Manipulator kinematics 8
 3.1 INTRODUCTION

Frames will be affixed to parts of

mechanism.
The relationships between these frames
will be described.
Finding the position and orientation of the
manipulator’s end-effector relative to its
base as functions of the joint variables.

10/5/2016 403050 - Manipulator kinematics 9

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.1 Introduction
3.2 Links description
3.3 Joints description
3.4 Convention for affixing frames to links

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 3.2 LINKS DESCRIPTION

A manipulator may include a set of rigid

bodies which are connected together.
These bodies are called links.
These links are numbered starting from
the immobile base of the arm, which
might be called link 0.
The first moving body is called link 1 and
the end of the arm is called link n.

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 3.2 LINKS DESCRIPTION

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 3.2 LINKS DESCRIPTION

A link of a robot has many attributes that

required a mechanical designer to
consider:
• Material.
• Strength.
• Shape.
• Weight and inertia.
•…

10/5/2016 403050 - Manipulator kinematics 13

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.1 Introduction
3.2 Links description
3.3 Joints description
3.4 Convention for affixing frames to links

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 3.3 JOINTS DESCRIPTION

The connection between two

neighboring links is called joints.

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 3.3 JOINTS DESCRIPTION

The connection between two

neighboring links is called joints.

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 3.3 JOINTS DESCRIPTION

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 3.3 JOINTS DESCRIPTION

One DoF joints are usually referred in

constructing a manipulators.
Most manipulators have revolute joints
or sliding ones called prismatic joints.
A n DoFs joint can be modeled as n one
DoF joints connected with n-1 links of
zero length.
=> consider manipulators only have single
DoF joints.
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 3.3 JOINTS DESCRIPTION

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 3.3 JOINTS DESCRIPTION

Example: determine the DoF(s) of these

joints.

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 3.3 JOINTS DESCRIPTION

Example: determine the DoF(s) of these

joints.

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 3.3 JOINTS DESCRIPTION

Generally, a manipulator required at

least 6 links to position its end-effector in
3D-space.
In this section, only single kinematics
chain robots are considered.
Joints are numbered from 1 (the joints
between the base and the first link) to n.

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 3.3 JOINTS DESCRIPTION

Joint axis i is defined by a line in space

or a vector direction, about which link i
rotates or translates relative to link i-1.
With these joints we can define two
parameter:
• Link length (ai-1): the distance between two
neighboring joint axes (i-1 and i).
• Link twist (i-1): the twist angle between two
neighboring joint axes (i-1 and i).

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 3.3 JOINTS DESCRIPTION

10/5/2016 403050 - Manipulator kinematics 24

 3.3 JOINTS DESCRIPTION

When links are connected together at

joints two more parameter is formed.
• Link offset (di): the distance (displacement)
between two neighboring link length
lines (i-1 and i).
• Joints angle (i): the amount of rotated
(twist) angle between two neighboring link
length lines (i-1 and i).

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 3.3 JOINTS DESCRIPTION

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 3.3 JOINTS DESCRIPTION

The definition of these four parameter

can be called the Denavit-Hartenberg
notation.

At this point, we could inspect any

mechanism and determine the D-H
parameters that describe it.

10/5/2016 403050 - Manipulator kinematics 27

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.1 Introduction
3.2 Links description
3.3 Joints description
3.4 Convention for affixing frames to links

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

To describe the location of each link

relative to its neighbors, we define a
frame attached to each link.
The link frames are named by number
according to the link to which they are
attached.
For example, frame {1} is attached rigidly to
link 1.

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

The coordinate system of frame {i} will

be defined:
• The 𝑍መ𝑖 will be coincident with the joint axis i.
• The 𝑋෠𝑖 will be coincident with the link length
line from joint axis i to i+1.
• The origin (Oi) of frame {i} will be the
intersection of 𝑋෠𝑖 and 𝑍መ𝑖 .
• The 𝑌෠𝑖 will be formed be the right-hand rule
(or 𝑌෠𝑖 = 𝑍መ𝑖 × 𝑋෠𝑖 ).

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

First (0 - Base) and last links (n) in the

chain.
• Frame {0} is attached to the base (link 0) and
it coincides with frame {1} when joint variable
1 is zero.
• For joint n revolute, the direction of 𝑋෠𝑛 is
chosen so that it aligns with 𝑋෠𝑛−1 when n =
0, and On is chosen so that dn = 0.
• For joint n prismatic, the direction of 𝑋෠𝑛 is
chosen so that n = 0, and On is chosen at
the intersection of 𝑋෠𝑛−1 and 𝑍መ𝑛 .

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

Summary of the link parameters in term

of the link frames.
• ai = the distance from 𝑍መ𝑖 to 𝑍መ𝑖+1 measured
along 𝑋෠𝑖
• i = the angle from 𝑍መ𝑖 to 𝑍መ 𝑖+1 measured
about 𝑋෠𝑖
• di = the distance from 𝑋෠𝑖−1 to 𝑋෠𝑖 measured
along 𝑍መ𝑖
• i = the angle from 𝑋෠𝑖−1 to 𝑋෠𝑖 measured
about 𝑍መ𝑖
10/5/2016 403050 - Manipulator kinematics 33
 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

Example:

Attached frames on
links of the beside robot.

Find the link

parameters of this three-
link planar manipulator.

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

Example:

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 3.4 CONVENTION FOR AFFIXING
FRAMES TO LINKS

Example:

10/5/2016 403050 - Manipulator kinematics 36

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.5 Denavit-Hartenberg parameters

3.6 kinematics equations
3.7 Examples of industrial robots
3.8 Problems

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 3.5 DENAVIT-HARTENBERG
PARAMETERS

There are two types of DH parameter:

• The classic DH parameter.
• The modified DH parameter.

Both of these type can be used to find the

relationship between the end-effectors and the
bases of manipulators.

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 Classic DH parameter.

10/5/2016 403050 - Manipulator kinematics 39

 Classic DH parameter.

Link i i di ai i
1
2
3

10/5/2016 403050 - Manipulator kinematics 40

 Classic DH parameter.

The frame transformation 𝑖−1𝑖𝑇 describe

the finite motion from link i-1 to link i can
be expressed as the following sequence:

• A rotation i about Zi-1 axis;

• A translation di along the Zi-1 axis;
• A translation ai along the Xi axis;
• A rotation i about Xi axis.

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 Classic DH parameter.

The homogeneous transformation 𝑖−1𝑖𝑇

is represented as a product of four basic
transformations as follows:
𝑖−1
𝑖𝑇 = 𝑅𝑍 𝜃𝑖 𝐷𝑍 (𝑑𝑖 )𝐷𝑋 (𝑎𝑖 )𝑅𝑋 𝛼𝑖

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 The modified DH parameter

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 The modified DH parameter

Link i i-1 ai-1 di i

1
2
3

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 The modified DH parameter

The frame transformation 𝑖−1𝑖𝑇 describe

the finite motion from link i-1 to link i can
be expressed as the following sequence:

• A rotation i-1 about Xi-1 axis.

• A translation ai-1 along the Xi-1 axis;
• A rotation i about Zi axis;
• A translation di along the Zi axis;

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 The modified DH parameter

The homogeneous transformation 𝑖−1𝑖𝑇

is represented as a product of four basic
transformations as follows:
𝑖−1
𝑖𝑇 = 𝑅𝑋 𝛼𝑖−1 𝐷𝑋 (𝑎𝑖−1 ) 𝑅𝑍 𝜃𝑖 𝐷𝑍 (𝑑𝑖 )

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 The modified DH parameter

Example: Robot have link parameters in the

table. Compute the individual transformations for
each link.

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 The modified DH parameter

Example: the transformations can be found.

10/5/2016 403050 - Manipulator kinematics 48

 3.5 DENAVIT-HARTENBERG
PARAMETERS

Once the link frames have been defined

and the corresponding link parameters
found
=> the kinematics equations can be
developed easily.

10/5/2016 403050 - Manipulator kinematics 49

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.5 Denavit-Hartenberg parameters

3.6 Kinematics equations
3.7 Examples of industrial robots
3.8 Problems

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 3.6 KINEMATICS EQUATIONS

Base on the DH parameters we can:

• Derive the kinematics equations which
represent for the position and orientation of
the link n relative to the base.

If the classic DH parameters are used:

• The position and orientation of the end-
effector relative to the base will be found.

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 3.6 KINEMATICS EQUATIONS

The location of link n or frame {n}

relative to the base (link 0) of the robot is
defined by 𝑛0𝑇.
𝑟11 𝑟12 𝑟13 𝑝𝑥
0 𝑟 r 𝑟23 𝑝𝑦
𝑛𝑇 = 𝑟
21 22
31 𝑟32 𝑟33 𝑝𝑧
0 0 0 1

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 3.6 KINEMATICS EQUATIONS

Where 𝑛0𝑇 can be found:

0
𝑛𝑇 = 01𝑇 12𝑇 23𝑇 … 𝑛−1𝑛𝑇

By obtaining r11, r12, …, r33 and px, py, pz, we

have 12 equations which are the kinematics
equations of the robot.

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 3.6 KINEMATICS EQUATIONS

Example: Consider a robot have link

parameters in the table. Find the kinematics
equations of this robot.

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 3.6 KINEMATICS EQUATIONS

Example: The link transformations can be

obtained.

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 3.6 KINEMATICS EQUATIONS

𝑟11 𝑟12 𝑟13 𝑝𝑥

0
𝑇 = 0 1 2
𝑇 𝑇 𝑇 = 𝑟21 r22 𝑟23 𝑝𝑦
3 1 2 3 𝑟31 𝑟32 𝑟33 𝑝𝑧
0 0 0 1
Where,

𝑐𝜃1 −𝑠𝜃1 0 0 1 0 0 0 𝑐𝜃3 −𝑠𝜃3 0 0

0 𝑠𝜃1 𝑐𝜃1 0 0 0 0 −1 −𝑑2 𝑠𝜃3 𝑐𝜃3 0 0
𝑛𝑇 =
0 0 1 0 0 1 0 0 0 0 1 𝑙2
0 0 0 1 0 0 0 1 0 0 0 1

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 3.6 KINEMATICS EQUATIONS

𝑐𝜃1 𝑐𝜃3 −𝑐𝜃1 𝑠𝜃3 𝑠𝜃1 𝑙2 + 𝑑2 𝑠𝜃1

0 𝑠𝜃1 𝑐𝜃3 −𝑠𝜃1 𝑠𝜃3 −𝑐𝜃1 − 𝑙2 + 𝑑2 𝑐𝜃1
𝑛𝑇 =
𝑠𝜃3 𝑐𝜃3 0 0
0 0 0 1
𝑟11 𝑟12 𝑟13 𝑝𝑥
𝑟 r 𝑟23 𝑝𝑦
= 𝑟 21 22
𝑟33 𝑝𝑧
31 𝑟32
0 0 0 1

10/5/2016 403050 - Manipulator kinematics 57

 3.6 KINEMATICS EQUATIONS

The kinematics equations:

• 𝑟11 = 𝑐𝜃1 𝑐𝜃3
• 𝑟21 = 𝑠𝜃1 𝑐𝜃3
• 𝑟31 = 𝑠𝜃3
• 𝑟12 = −𝑐𝜃1 𝑠𝜃3
• 𝑟22 = −𝑠𝜃1 𝑠𝜃3
• 𝑟32 = 𝑐𝜃3

10/5/2016 403050 - Manipulator kinematics 58

 3.6 KINEMATICS EQUATIONS

The kinematics equations:

• 𝑟13 = 𝑠𝜃1
• 𝑟23 = −𝑐𝜃1
• 𝑟33 = 0
• 𝑝𝑥 = 𝑙2 + 𝑑2 𝑠𝜃1
• 𝑝𝑦 = − 𝑙2 + 𝑑2 𝑐𝜃1
• 𝑝𝑧 = 0

10/5/2016 403050 - Manipulator kinematics 59

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.5 Denavit-Hartenberg parameters

3.6 kinematics equations
3.7 Examples of industrial robots
3.8 Problems

10/5/2016 403050 - Manipulator kinematics 60

 3.7 EXAMPLES OF
INDUSTRIAL ROBOTS

To clearly understand how to form the

kinematics equations of a robot we
consider three industrial robot:
1. The Puma 560
2. The Yasukawa Motomart L-3
3. The Stanford

10/5/2016 403050 - Manipulator kinematics 61

 3.7.1 The Puma 560

The Unimation PUMA 560 is a 6 DoFs

robot. All joints are revolute ones.

10/5/2016 403050 - Manipulator kinematics 62

 3.7.1 The Puma 560

10/5/2016 403050 - Manipulator kinematics 63

 3.7.1 The Puma 560

Link parameters of the PUMA 560:

10/5/2016 403050 - Manipulator kinematics 64

 3.7.1 The Puma 560

Link transformations:

10/5/2016 403050 - Manipulator kinematics 65

 3.7.1 The Puma 560

10/5/2016 403050 - Manipulator kinematics 66

 3.7.1 The Puma 560

10/5/2016 403050 - Manipulator kinematics 67

 3.7.1 The Puma 560

The kinematics equations of PUMA 560:

10/5/2016 403050 - Manipulator kinematics 68

 3.7.1 The Puma 560

The kinematics equations of PUMA 560:

10/5/2016 403050 - Manipulator kinematics 69

 3.7.1 The Puma 560

The kinematics equations of PUMA 560:

10/5/2016 403050 - Manipulator kinematics 70

 3.7.1 The Puma 560

The kinematics equations of PUMA 560:

10/5/2016 403050 - Manipulator kinematics 71

 3.7.2 The Yasukawa Motoman
L-3

 This robot have 5 DoFs.

 Link frames are assigned to the robot in the
right figure.

10/5/2016 403050 - Manipulator kinematics 72

 3.7.2 The Yasukawa Motoman
L-3

 The link parameters are in the table, where

the link transformations can be computed:

10/5/2016 403050 - Manipulator kinematics 73

 3.7.2 The Yasukawa Motoman
L-3

The link transformations:

10/5/2016 403050 - Manipulator kinematics 74

 3.7.2 The Yasukawa Motoman
L-3

 By obtaining 05𝑇 we can have the kinematics

equations of the Yasukawa Motoman L-3.

10/5/2016 403050 - Manipulator kinematics 75

 3.7.3 The Stanford

 Stanford robot has 6 DoFs.

 Link frames are assigned to the robot in the
right figure. (Using classic DH parameters)

10/5/2016 403050 - Manipulator kinematics 76

 3.7.3 The Stanford

Students have to find the classic DH

parameter and the link transformations
of this robot based on the classic
method.

Students have to find the kinematics

equations for this robot.

10/5/2016 403050 - Manipulator kinematics 77

 CHAPTER 3: MANIPULATOR
KINEMATICS

3.5 Denavit-Hartenberg parameters

3.6 kinematics equations
3.7 Examples of industrial robots
3.8 Problems

10/5/2016 403050 - Manipulator kinematics 78

 3.8 PROBLEMS

Exercise 3.1, 3.3, 3.4, 3.9, 3.11, 3.13,

3.15-22

Matlab exercise 3

10/5/2016 403050 - Manipulator kinematics 79

 SUMMARY

The concept of links and joints.

How to form D-H parameters of a robot.

Finding the kinematics equations.

10/5/2016 403050 - Manipulator kinematics 80

 REQUIREMENTS

Read Slides of chapter 4.

Read textbook book [1]: 101-134
Read reference book [2]: 44-52
Read reference book [3]: 201-204
Students look for these material on the
library and official website.

10/5/2016 403050 - Manipulator kinematics 81

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 4
INVERSE MANIPULATOR
KINEMATICS
403050 - ROBOTICS
 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 2

 LEARNING OUTCOMES

Understand the concepts of

transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
Test the robot's DH parameters, the
results of forward and inverse
kinematics problems.
10/5/2016 403050 - Inverse manipulator kinematics 3
 LEARNING OUTCOMES

Evaluate the robot’s responses.

Recommend the structure/program of
the robot to meet the requirements of
the system.
Select the robot's structure for specific
problem.
Apply the ability to communicate and
work with in team effectively.
Use time and resources effectively.

10/5/2016 403050 - Inverse manipulator kinematics 4

 OBJECTIVES

Understand what is the purpose of the

inverse manipulator kinematics.
Understand the algebraic and geometric
solutions.
Know how to solve the inverse
manipulator kinematics by using
algebraic and geometric solutions.

10/5/2016 403050 - Inverse manipulator kinematics 5

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 6

 4.1 INTRODUCTION

In chapter 3, we solved the problem of

finding the position and orientation of the
end-effector with given joints variables.
In practice, the users usually face the
problem required finding variables when
the end-effector’s location is known.
=> This is called inverse kinematics of
manipulators.

10/5/2016 403050 - Inverse manipulator kinematics 7

 4.1 INTRODUCTION

This inverse manipulator kinematics:

• Frame {W}: the wrist frame (the end-effector).
Relative to frame {B}.
• Frame {B}: the robot base frame. Relative to
frame {S}.
• Frame {T}: the tool frame. Relative to frame
{S}.
• Frame {S}: the station frame (the universe
frame).

10/5/2016 403050 - Inverse manipulator kinematics 8

 4.1 INTRODUCTION

This inverse manipulator kinematics:

• Known relative: 𝑇𝑆𝑇 and 𝐵𝑆𝑇.
𝐵
• Unknown relative: 𝑊 𝑇
Solving this problem means moving the wrist
to the tool location so that it can pick the tool
up.
This problem can be express: finding joints
variables so that frame {W} coincident with
frame {T}.

10/5/2016 403050 - Inverse manipulator kinematics 9

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 10

 4.2 SOLVABILITY

With the given numerical value of 𝑛0𝑇, we

will attempt to find 1, 2, …, n (or dn).
This mean we have to solve 12
nonlinear equations.
These problems will not always have the
solutions.
Sometimes, they have multiple
solutions.

10/5/2016 403050 - Inverse manipulator kinematics 11

 4.2 SOLVABILITY

Existence of the solutions.

• The goal point must located in the robot’s
reachable workspace.
The reachable workspace: the volume of space
the end-effector can reach.
• More specific, the goal point must located in
the robot’s dexterous workspace.
The dexterous workspace: the volume of space
that the robot end-effector can reach with all
orientation.

10/5/2016 403050 - Inverse manipulator kinematics 12

 4.2 SOLVABILITY

Consider the two-link manipulator in the

figure.

10/5/2016 403050 - Inverse manipulator kinematics 13

 4.2 SOLVABILITY

If L1=L2:
• The reachable workspace is a disc of radius
(2L1).
• The dexterous workspace is only a single
point, the origin.
If L1L2:
There is no dexterous workspace.
The reachable workspace become a ring of
outer radius (L1+L2) and inner radius |L1-L2|.

10/5/2016 403050 - Inverse manipulator kinematics 14

 4.2 SOLVABILITY

If a manipulator has fewer than 6 DoFs,

it cannot attain general goal positions
and orientations in 3-space.
If all the sets of joints variables can be
determined, the inverse kinematics can
be solved.
These sets of variables must be
applicable (the physical conditions must
be considered).
10/5/2016 403050 - Inverse manipulator kinematics 15
 4.2 SOLVABILITY

Multiple solutions: in some cases, we

can get multiple solutions.

10/5/2016 403050 - Inverse manipulator kinematics 16

 4.2 SOLVABILITY

Multiple solutions: one solution cannot

be archived because of the physical
condition.

10/5/2016 403050 - Inverse manipulator kinematics 17

 4.2 SOLVABILITY

Multiple solutions: Puma 560 can reach

a certain goals.

10/5/2016 403050 - Inverse manipulator kinematics 18

 4.2 SOLVABILITY

Multiple solutions: Puma 560 can reach

a certain goals.

10/5/2016 403050 - Inverse manipulator kinematics 19

 4.2 SOLVABILITY

Method of solution: there are no general

algorithms that may be employed to
solve a set of nonlinear equations.
• Closed-form solutions: algebraic and
geometric.
• Numerical solutions (much slower than the
other).

10/5/2016 403050 - Inverse manipulator kinematics 20

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 21

 4.3 ALGEBRAIC SOLUTION

Consider the three planar manipulator:

10/5/2016 403050 - Inverse manipulator kinematics 22

 4.3 ALGEBRAIC

The kinematics equations of this arm

can be found easily by using the link
parameters.

10/5/2016 403050 - Inverse manipulator kinematics 23

 4.3 ALGEBRAIC

If the goal point is specification of the

𝐵
wrist frame relative to the base, 𝑊 𝑇.
Because this is a planar manipulator, the
goal point can be presented in general
form:

10/5/2016 403050 - Inverse manipulator kinematics 24

 4.3 ALGEBRAIC

Solving the kinematics equations lead

to:

10/5/2016 403050 - Inverse manipulator kinematics 25

10/5/2016 403050 - Inverse manipulator kinematics 26
 4.3 ALGEBRAIC

We can get:

Then:

10/5/2016 403050 - Inverse manipulator kinematics 27

 4.3 ALGEBRAIC

Finally, we compute 2, using Atan2

function.

With the value of 2, we can rewrite:

Where:

10/5/2016 403050 - Inverse manipulator kinematics 28

 4.3 ALGEBRAIC

In order to solve equations of this form,

we define:

Then:

10/5/2016 403050 - Inverse manipulator kinematics 29

 4.3 ALGEBRAIC

The previous equations can be written

as:

So:

10/5/2016 403050 - Inverse manipulator kinematics 30

 4.3 ALGEBRAIC

We get:

So:

Finally we can solve for the sum of 1, 2

and 3 to find 3.

10/5/2016 403050 - Inverse manipulator kinematics 31

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 32

 4.4 GEOMETRIC SOLUTION

To find a manipulator’s solution by

geometric approach:
• The spatial geometry of the arm should be
decomposed in to several plane-geometry
problems.
For a planar manipulator, we can apply
plane geometry directly to find a
solution.

10/5/2016 403050 - Inverse manipulator kinematics 33

 4.4 GEOMETRIC SOLUTION

10/5/2016 403050 - Inverse manipulator kinematics 34

 4.4 GEOMETRIC SOLUTION

We can apply the “law of cosines” to

solve for 2:

We have:

Base on the figure, this equation for that

value of 2 that lies between 0 and -
180o.
10/5/2016 403050 - Inverse manipulator kinematics 35
 4.4 GEOMETRIC SOLUTION

To solved for 1, we find expressions for

angle  and  as indicated in the figure.

We apply the “law of cosines” to find 

(0    180o):

10/5/2016 403050 - Inverse manipulator kinematics 36

 4.4 GEOMETRIC SOLUTION

Then we have:
𝜃1 = 𝛽 ± 
• Where:
The plus sign is used if 2 < 0.
The minus sign is used if 2 > 0.

So: 𝜃3 = ∅ − 𝜃1 − 𝜃2

10/5/2016 403050 - Inverse manipulator kinematics 37

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 38

 4.5 EXAMPLES OF INVERSE
MANIPULATOR KINEMATICS

We consider the inverse kinematics of

two industrial robots: The PUMA 560
and the Yasukawa Motoman L-3.
These solutions is done algebraically.
Remember, the following solutions do
not constitute a cookbook method of
solving manipulator kinematics.

10/5/2016 403050 - Inverse manipulator kinematics 39

 4.5.1 THE UNIMATION PUMA
560

THE INSTRUCTION TO SOLVE THE

INVERSE KINEMATICS OF PUMA 560
IS IN THE TEXTBOOK, P.117 TO 121.

STUDENTS READ THE INSTRUCTION

AT HOME AND THEN DICUSS IT IN
CLASS.

10/5/2016 403050 - Inverse manipulator kinematics 40

 4.5.2 THE YASUKAWA
MOTOMAN L-3

THE INSTRUCTION TO SOLVE THE

INVERSE KINEMATICS OF THE
YASUKAWA MOTOMAN L-3 IS IN THE
TEXTBOOK, P. 121 TO 125.
STUDENTS READ THE INSTRUCTION
AT HOME AND THEN DICUSS IT IN
CLASS.

10/5/2016 403050 - Inverse manipulator kinematics 41

 4.5.3 ANOTHER EXAMPLE

Consider the RPR robot. Find the

modified DH parameters and solve the
inverse kinematics if:

10/5/2016 403050 - Inverse manipulator kinematics 42

 4.5.3 ANOTHER EXAMPLE

Consider the RPR robot. Find the

modified DH parameters and solve the
inverse kinematics if:

− 2ൗ2 − 2ൗ2 0 5 2
0
3𝑇 =
2ൗ − 2ൗ 0 −5 2
2 2
0 0 1 0
0 0 0 1

10/5/2016 403050 - Inverse manipulator kinematics 43

 Modified DH parameters

Link,i i-1 ai-1 di i

1 0 0 0 1
2 90o 0 d2 0
3 -90o 0 0 3

10/5/2016 403050 - Inverse manipulator kinematics 44

 4.5.3 ANOTHER EXAMPLE

 We have:
0
3𝑇 = 01𝑇 12𝑇 23𝑇
Where
𝑐1 −𝑠1 0 0
0
𝑇 = 𝑠1 𝑐1 0 0
1 0 0 1 0
0 0 0 1
𝑐1 𝑠1 0 0
0 −1
1𝑇 = −𝑠1 𝑐1 0 0
0 0 1 0
0 0 0 1
10/5/2016 403050 - Inverse manipulator kinematics 45
 4.5.3 ANOTHER EXAMPLE

1 0 0 0 1 0 0 0
1
𝑇 = 0 0 −1 −𝑑2 , 1 −1
= 0 0 1 0
2 2𝑇 0 −1 0 −𝑑2
0 1 0 0
0 0 0 1 0 0 0 1

𝑐3 −𝑠3 0 0 𝑐3 −𝑠3 0 0
2
𝑇 = 0 0 1 0 , 1
𝑇 = 𝑠3 𝑐3 0 −𝑑2
3 −𝑠3 −𝑐3 0 0 3
0 0 1 0
0 0 0 1 0 0 0 1

10/5/2016 403050 - Inverse manipulator kinematics 46

 4.5.3 ANOTHER EXAMPLE

We can compute:
𝑐13 −𝑠13 0 𝑠1𝑑2
0
𝑇 = 𝑠13 𝑐13 0 −𝑐1𝑑2
3
0 0 1 0
0 0 0 1

− 2ൗ2 − 2ൗ2 0 5 2
= 2ൗ − 2ൗ 0 −5 2
2 2
0 0 1 0
0 0 0 1
10/5/2016 403050 - Inverse manipulator kinematics 47
 4.5.3 ANOTHER EXAMPLE

By solving:
𝑐13 = − 2ൗ2
൞ → 𝜃1 + 𝜃3 = 135𝑜
𝑠13 = 2ൗ2
And
𝑠1𝑑2 = 5 2 𝜃1 = 45𝑜
൝ →ቈ 𝑜 𝑖𝑓 𝑑2 ≠ 0
𝑐1𝑑2 = 5 2 𝜃1 = −135

10/5/2016 403050 - Inverse manipulator kinematics 48

 4.5.3 ANOTHER EXAMPLE

In this case, we have two solutions:

𝜃1 = 45𝑜 ; 𝜃3 = 90𝑜 ; 𝑑2 = 10
ቈ
𝜃1 = −135𝑜 ; 𝜃3 = 270𝑜 ; 𝑑2 = −10

If we have physical constrains, we can

omit some solutions.

10/5/2016 403050 - Inverse manipulator kinematics 49

 4.5.3 ANOTHER EXAMPLE

In some case, we can not obtain the

solution by solving:
0
3𝑇 = 01𝑇 12𝑇 23𝑇
We have to multiply 01𝑇 −1 and 12𝑇 −1 to
both sides of the equation, then solve:
0 −1 0 0 −1 0 1 2 1
1𝑇 3𝑇 = 1𝑇 𝑇
1 2 3𝑇 𝑇= 3𝑇
Or: 12𝑇 −1 01𝑇 −1 03𝑇 = 23𝑇

10/5/2016 403050 - Inverse manipulator kinematics 50

 CHAPTER 4: INVERSE
MANIPULATOR KINEMATICS

4.1 Introduction
4.2 Solvability
4.3 Algebraic solution
4.4 Geometric solution
4.5 Examples of inverse manipulator
kinematics
4.6 Problems

10/5/2016 403050 - Inverse manipulator kinematics 51

 4.6 PROBLEMS

Exercise 4.1-4, 4.8, 4.9, 4.16, 4.17-22

Matlab exercise 4

10/5/2016 403050 - Inverse manipulator kinematics 52

 SUMMARY

What is the inverse kinematic problems?

Algebraic solution

Geometric solution

10/5/2016 403050 - Inverse manipulator kinematics 53

 REQUIREMENTS

Read Slides of chapter 5.

Read reference book [4] : 76-83
Read: RoboAnalyzer’s user manual,
Easy-Rob manual and Robotics Toolbox
for Matlab.
Students look for these material on the
library and official website.

10/5/2016 403050 - Inverse manipulator kinematics 54

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 5
ROBOT SIMULATION
403050 - ROBOTICS
 CHAPTER 5: ROBOT
SIMULATION

5.1 Introduction
5.2 RoboAnalyzer software
5.3 Easy-Rob software
5.4 Robotics toolbox

10/5/2016 403050 - Robot simulation 2

 LEARNING OUTCOMES

Understand the concepts of

transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
Evaluate the robot’s responses.

10/5/2016 403050 - Robot simulation 3

 LEARNING OUTCOMES

 Recommend the structure/program of the

robot to meet the requirements of the
system.
 Select the robot's structure for specific
problem.
 Select the operation of robots for specific
tasks.
 Apply the ability to communicate and work
with in team effectively.
 Use time and resources effectively.
10/5/2016 403050 - Robot simulation 4
 OBJECTIVES

Know how to use robot simulation

software.
Know how to analyze the kinematics and
dynamics of a robot by using these
software.
Know how to deal with the given
projects.

10/5/2016 403050 - Robot simulation 5

 CHAPTER 5: ROBOT
SIMULATION

5.1 Introduction
5.2 RoboAnalyzer software
5.3 Easy-Rob software
5.4 Robotics toolbox

10/5/2016 403050 - Robot simulation 6

 5.1 INTRODUCTION

What can robot simulations do?

• Creating robots structures.
• Programing robots actions.
• Planning robots trajectories.
• Analyzing robots’ kinematics and dynamics
problems.

10/5/2016 403050 - Robot simulation 7

 5.1 INTRODUCTION

Why do we need these software?

• To save cost and time.
• To understand the trajectories of the
manipulators.
• To understand the kinematics and dynamics
of robots.
• In some case, these programs can be
transferred to the real robot without
modification.

10/5/2016 403050 - Robot simulation 8

 5.1 INTRODUCTION

Which area these program are used?

In areas such as:

• Industry.
• Researching.
• Entertaining.
• Studying.

10/5/2016 403050 - Robot simulation 9

 5.1 INTRODUCTION

In this course, these can help our

learners to:
• Understand the DH parameters more clearly.

• Analyze the trajectories of robots.

• Analyze the kinematics and dynamics

problems of robots.

10/5/2016 403050 - Robot simulation 10

 5.1 INTRODUCTION

NOTICE

THESE SOFTWARE USE CLASIC DH-

PARAMETERS.

10/5/2016 403050 - Robot simulation 11

 CHAPTER 5: ROBOT
SIMULATION

5.1 Introduction
5.2 RoboAnalyzer software
5.3 Easy-Rob software
5.4 Robotics toolbox

10/5/2016 403050 - Robot simulation 12

 5.2 ROBOANALYZER
SOFTWARE

Is developed at IIT Delhi, New Delhi,

India under the guidance of Prof. S.K.
Saha.
It is a 3D model based robotics learning
software.
It is totally free for teaching purpose.
(http://www.roboanalyzer.com)

10/5/2016 403050 - Robot simulation 13

 5.2 ROBOANALYZER
SOFTWARE

It features:

• Forward Kinematics.
• Inverse Kinematics.
• Animation and Plots.
• Virtual Robot Module.
• Integration with MATLAB.

10/5/2016 403050 - Robot simulation 14

 5.2 ROBOANALYZER
SOFTWARE

10/5/2016 403050 - Robot simulation 15

 5.2 ROBOANALYZER
SOFTWARE

Graphical User Interface:

1. Robot Selection and

DH Parameters section.
2. Visualize DH section.
3. 3D Model Browser.
4. 3D Model View

10/5/2016 403050 - Robot simulation 16

 5.2 ROBOANALYZER
SOFTWARE

Graphical User Interface:

5. Graph Plot Tree

View.
6. Graph Plot Windows.
7. Inverse Kinematics
Window.

10/5/2016 403050 - Robot simulation 17

 5.2 ROBOANALYZER
SOFTWARE

10/5/2016 403050 - Robot simulation 18

 5.2 ROBOANALYZER
SOFTWARE

Visualize DH:

10/5/2016 403050 - Robot simulation 19

 5.2 ROBOANALYZER
SOFTWARE

Link configuration:

10/5/2016 403050 - Robot simulation 20

 5.2 ROBOANALYZER
SOFTWARE

End-Effector configuration:

10/5/2016 403050 - Robot simulation 21

 5.2 ROBOANALYZER
SOFTWARE

Other functions:

• Forward Kinematics.
• Inverse Kinematics.
• Inverse Dynamics.
• Forward Dynamics.
• Motion Planning.

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 CHAPTER 5: ROBOT
SIMULATION

5.1 Introduction
5.2 RoboAnalyzer software
5.3 Easy-Rob software
5.4 Robotics toolbox

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 5.3 EASY-ROB SOFTWARE

EASY-ROB is a Robot Simulation Tool

with 3D graphic and animation.
You can design your robot kinematic
with 6 DOF (degrees of freedom).
Currently available types are the
kinematics RRR:RRR and TTT:RRR.

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 5.3 EASY-ROB SOFTWARE

The robot can move in joint and

Cartesian space (inverse kinematics
with all configurations).
Furthermore you can describe the robot
kinematic in universal coordinates and
with the DH notation.
The maximum number of DOF is 12.

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 5.3 EASY-ROB SOFTWARE

You can write a motion program for the

robot and check reachability, travel
ranges and cycle time for the movement.
Your robots can grab some things and
release them.
A simple 3D-CAD System allows you to
create basic bodies like block, cylinder,
spheres, pyramid.

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 5.3 EASY-ROB SOFTWARE

Assignment 1 (10%):
• Reading the user’s manual of easy-rob
software.
• Creating one of learned robots (at least 3
DoFs).
• Programming for this robot to perform a task
(grab a tool, move it to another position and
release it).

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 CHAPTER 5: ROBOT
SIMULATION

5.1 Introduction
5.2 RoboAnalyzer software
5.3 Easy-Rob software
5.4 Robotics toolbox

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 5.4 ROBOTICS TOOLBOX

This is a toolbox for MATLAB.

It provides many useful functions for
studying and simulating of classical arm-
type robotics, for example:
• Kinematics.
• Dynamics.
• Trajectory generation.

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 5.4 ROBOTICS TOOLBOX

Robot objects can be created by the

user for any serial-link manipulator.

Examples are provided for well know

robots such as the Puma 560 and the
Stanford arm amongst others.

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 5.4 ROBOTICS TOOLBOX

It also provides functions for

manipulating and converting between
data types such as:
• Vectors.
• Homogeneous transformations.
• Unit-quaternions (3-dimensional position and
orientation).

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 5.4 ROBOTICS TOOLBOX

This toolbox is totally free for education

purpose.

This toolbox and its manual can be

downloaded from:
http://www.petercorke.com/robot

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 5.4 ROBOTICS TOOLBOX

Assignment 2 (10%):

• Reading the manual of Robotics Toolbox.

• Choosing one of learned robots (at least 3
DoFs).
• Programming for this robot to perform a
planned movement.

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 5.4 ROBOTICS TOOLBOX

NOTICE

STUDENTS PICK ONE OF TWO

ASSIGNMENTS TO SUBMIT.

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 SUMMARY

How to use software and toolbox:

• RoboAnalyzer
• Easy-Rob
• Robotics toolbox (in Matlab)
To understand the kinematics and
dynamics of a robot.

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 REQUIREMENTS

Finish the above assignments.

Read Slides of chapter 6.
Read textbook [1] : 201-229
Read reference book [4]: 92-98
Students look for these material on the
library.

10/5/2016 403050 - Robot simulation 36

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 6
TRAJECTORY GENERATION
403050 - ROBOTICS
 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 LEARNING OUTCOMES

Understand the concepts of

transformation, the robot’s DH
parameters; forward kinematics, inverse
kinematics; planning the robot’s
trajectory and finding the response of
robots.
Evaluate the robot’s responses.

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 LEARNING OUTCOMES

Recommend the structure/program of

the robot to meet the requirements of
the system.
Select the robot's structure for specific
problem.
Apply the ability to communicate and
work with in team effectively.
Use time and resources effectively.

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 OBJECTIVES

Know the important of planning a

trajectory for a robot.
Know how to calculate functions of
space and time to a task.
Know how to compute position, velocity
and acceleration of a robot.

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 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 6.1 INTRODUCTION

 Trajectory refers to position, velocity and

acceleration of each joint respected to time.
 The basic problem is to move the
manipulator from an initial position to some
desired final position regardless its path.
 Sometimes, the manipulator must pass
through a set of desired via points. In this
cases, its path is very important.

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 6.1 INTRODUCTION

When the manipulator moving between

via points, there are conditions that must
be satisfied:
• Continuous in position.
• Continuous in velocity.
• Continuous in acceleration.
Satisfying these conditions will make the
path exist and smooth the robot’s movement.

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 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 6.2 JOINT-SPACE SCHEMES

 Each path point is considered as a set of

desired joint angles by using inverse
kinematics.
 The path between two neighbor via points
is called a segment. Time required for each
segment is the same for each joint.
 To describe the shape of the path between
via points in Cartesian space is quite
complex.

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 6.2 JOINT-SPACE SCHEMES

In this section, the path shapes (in

space and time) will be described in
terms of functions of joint angles.
The joint-space schemes achieve the
desired position and orientation at the
via points.
The joint-space schemes are usually the
easiest to compute.

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 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 6.3 CUBIC POLYNOMIALS

Consider the problem of moving the tool

from its initial position to a goal position
in a certain amount of time.
The set of joint angles corresponding to
the initial point is known (at t0).
The set of joint angles corresponding to
the final point (position and orientation at
tf) can be calculated.

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 6.3 CUBIC POLYNOMIALS

 Consider (t)
is a function of
one joint
respected to
time.
 There are
many possible
smooth path
for (t).

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 6.3 CUBIC POLYNOMIALS

We can easily find these constrains:

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 6.3 CUBIC POLYNOMIALS

These four constrains can be satisfied

by cubic polynomial (at least third
degrees).

So the joint velocity and acceleration

along this path are:

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 6.3 CUBIC POLYNOMIALS

By combining these equations and

constrains we can yields four equations
in four unknowns:

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 6.3 CUBIC POLYNOMIALS

Solving these equations we can obtain:

This solution can be applied for general

case when the joint starts and finishes at
zero velocity.
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 6.3 CUBIC POLYNOMIALS

Example:
A single-link robot with a rotary joint is
motionless at =15o. It is desired to move the
joint in a smooth manner to =75o in 3 seconds.
Find the coefficients of a cubic that
accomplishes this motion and brings the
manipulator to rest at the goal.
Plot the position, velocity, and acceleration
of the joint as a function of time.

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 6.3 CUBIC POLYNOMIALS

Example:
We can easily find the coefficients of that
cubic polynomial: a0 = 15; a1 = 0; a2 = 20; a3 = -
4.44
Then, the position, velocity and acceleration
functions are:

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 6.3 CUBIC POLYNOMIALS

Example:

10/5/2016 403050 - Trajectory generation 21

 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 6.4 HIGHER-ORDER
POLYNOMIALS

Sometimes, higher-order polynomials are

used for path segments.
If specific position, velocity and
acceleration are required at the beginning
and the end of a path segment.
The position’s joint function will be:

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 6.4 HIGHER-ORDER
POLYNOMIALS

Where the constraints of positions and

velocities are given as

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 6.4 HIGHER-ORDER
POLYNOMIALS

Where the constraints of accelerations

are given as

With these constraints, a linear set of six

equations is formed.
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 6.4 HIGHER-ORDER
POLYNOMIALS

Solution:

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 CHAPTER 6: TRAJECTORY
GENERATION

6.1 Introduction
6.2 Joint-space schemes
6.3 Cubic polynomials
6.4 Higher-order polynomials
6.5 Linear function with parabolic blends

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 6.5 LINEAR FUNCTION
WITH PARABOLIC BLENDS

Another choice of path shape is linear.

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 6.5 LINEAR FUNCTION
WITH PARABOLIC BLENDS

However, this cause a discontinuous

velocity at the beginning and end of the
motion.
To solve this problem, a parabolic blend
region at each path point.
During the blend portion of the trajectory,
constant acceleration is used to change
velocity smoothly.

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 6.5 LINEAR FUNCTION
WITH PARABOLIC BLENDS

The path shape

will become:
These parabolic
blends have the same
duration.
The same
constant acceleration
is used for both
blends.

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 6.5 LINEAR FUNCTION
WITH PARABOLIC BLENDS

There are many

possible solutions
and the answer
always contain the
halfway point in
time, th, and about
the halfway point in
position, h.

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 PROBLEMS

Exercise 7.1-3, 7.15-20.

Matlab exercise 7

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 SUMMARY

Understand the robot’s trajectories such

as:
• Cubic polynomials
• Higher-order polynomials
• Linear function with parabolic blend
Calculate functions of space and time of
a robot’s action.
Calculate functions of position, velocity
and acceleration of a robot.
10/5/2016 403050 - Trajectory generation 33
 REQUIREMENTS

Read Slides of chapter 7.

Read reference book [4]: 99-109
Read reference book [5]: 136-146
Students look for these material on the
library.

10/5/2016 403050 - Trajectory generation 34

 TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL AND
ELECTRONICS ENGINEERING

CHAPTER 7
ACTUATOR AND
CONTROLLER
403050 - ROBOTICS
 CHAPTER 7: ACTUATORS
AND CONTROLLERS

7.1 Electrical actuators

7.2 Pneumatics and hydraulics
7.3 Robot controllers

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 LEARNING OUTCOMES

Remember the basic concepts of

position and orientation, actuators and
controllers in robotics.
Recommend a basic controller for
robots.
Evaluate the robot’s responses.
Recommend the structure/program of
the robot to meet the requirements of
the system.
10/5/2016 403050 - Actuator and controller 3
 LEARNING OUTCOMES

Select the robot's structure for specific

problem.
Apply the ability to communicate and
work with in team effectively.
Use time and resources effectively.

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 OBJECTIVES

Know the fundamental of actuators such

as motors, pneumatics and hydraulics
system in robotics.
Apply the knowledge of electric drive in
robotics.
Apply the knowledge of controllers such
as P, PD, PID in controlling robot’s joints.

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 CHAPTER 7: ACTUATOR
AND CONTROLLER

The actuators in robotics can be

classified in to two groups:
• Electrical
• Pneumatics and hydraulics
These two types have their own advantages
and disadvantages.

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 CHAPTER 7: ACTUATOR
AND CONTROLLER

7.1 Electrical actuator

7.2 Pneumatics and hydraulics
7.3 Robot controller

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 7.1 ELECTRICAL ACTUATOR

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 7.1 ELECTRICAL ACTUATOR

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 7.1 ELECTRICAL ACTUATOR

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 7.1 ELECTRICAL ACTUATOR

Electrical actuators is widely used in

robotics.
Advantages:
• Cleanness
• Flexible
Disadvantages:
• Low power
• High speed (usually need a gearbox)

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 7.1 ELECTRICAL ACTUATOR

There are many electric machine which

can be used to actuate the robot joints.
The most favorite ones are: DC motors
and stepper motors.
Nowadays, with the development in
power electronic, the number of AC
motor in controlling robot is increased.

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 7.1.1 DC MOTOR

Equivalent circuit:

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 7.1.1 DC MOTOR

Base on the equivalent circuit we have

the equation:
𝑑𝐼
𝑉 = 𝐸 + 𝐼𝑅 + 𝐿
𝑑𝑡
In steady-state, this equation becomes:
𝑉 = 𝐸 + 𝐼𝑅
Moreover we also have:
𝐸 = 𝐾𝛷 × 𝜔
𝑇 = 𝐾𝛷 × 𝐼

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 7.1.1 DC MOTOR

To control the speed and torque of a DC

motor, its supply voltage and flux will be
adjusted.
This can be done by using electronic
power circuits such as controlled
rectifiers, chopper circuits.
DC motors included three types: series,
shunt and compound motors.

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 7.1.2 STEPPER MOTOR

Stepper motor is the easiest way to

control the joints’ position.
The speed and position of stepper motor
can be controlled by a open-loop
controller.
Suitable for digital circuits.
The disadvantage is its power (low and
medium).

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 7.1.2 STEPPER MOTOR

The number of step per round can be

calculated:
360
𝑠=
𝑠𝑡𝑒𝑝 𝑎𝑛𝑔𝑙𝑒
Speed of this motor:
60. 𝑓
𝑛=
𝑠
Where: f is number of step per minute.

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 7.1.2 STEPPER MOTOR

Position of stepper motors can be

controlled by number of pulse we
supplied to the motor driver.

Stepper motor’s speed can be adjusted

by changing the pulse frequency f.

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 CHAPTER 7: ACTUATOR
AND CONTROLLER

7.1 Electrical actuator

7.2 Pneumatics and hydraulics
7.3 Robot controller

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 7.2 PNEUMATICS AND
HYDRAULICS

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 7.2 PNEUMATICS AND
HYDRAULICS

10/5/2016 403050 - Actuator and controller 21

 7.2 PNEUMATICS AND
HYDRAULICS

Pneumatics: linear actuator.

Consist of a piston inside a hollow cylinder.
Pressure from an external compressor or manual
pump moves the piston inside the cylinder.
• Advantage: clean, fast movement, simple
structure.
• Disadvantage: weak, pressure loss, less
efficient.

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 7.2 PNEUMATICS AND
HYDRAULICS

Hydraulics: linear actuator.

Have the same structure of pneumatics,
however, the size may bigger.
• Advantage: strong, more precise.
• Disadvantage:
May effect the environment because of hazardous
material.
Slow movement
Cost raising complexity with proportional
regulators and valves
Huge.

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 CHAPTER 7: ACTUATOR
AND CONTROLLER

7.1 Electrical actuator

7.2 Pneumatics and hydraulics
7.3 Robot controller

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 7.3 ROBOT CONTROLLER

Position, speed and torque are usually

considered in robot controlling.
These can be done by closed-loop
controller.
Sometimes, we can use opened-loop to
control the position of robot’s joints
(when stepper motors are used).

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 7.3 ROBOT CONTROLLER

A basic closed-loop controller

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 7.3 ROBOT CONTROLLER

Schematic of a cascade control loop for an electrical

drive

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 7.3 ROBOT CONTROLLER

Current control loop of a DC motor

10/5/2016 403050 - Actuator and controller 28

 7.3 ROBOT CONTROLLER

Speed control loop of a DC motor

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 7.3 ROBOT CONTROLLER

Position control loop of a DC motor

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 SUMMARY

What is electrical actuator?

What is Pneumatics and hydraulics

actuators?

Method to control robots joints?

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