Chapter 3

ROBOT MODELING

Robotics (EP-5532) by Belaynesh Belachew

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 Learning Outcomes
• Establish a good understanding of rotation and
homogenous transformation in robot modeling.

• Able to understand kinematics, dynamic

modeling of rigid body mechanical system.

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 Mathematical Models of Robots

While robots are them selves mechanical systems. in particular we

will develop methods (mathematical models)to represent

 Basic geometric aspects of robotic manipulator

 Dynamic aspects of manipulator

 And the various sensors available in modern robotic system.

Equipped with these mathematical models we will be able to

develop methods of planning and controlling robot motions to
perform specified tasks.

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 Description of position and orientation
• In the study of robotics, we are constantly concerned with the location of objects in
three-dimensional space.

• These objects are the links of the manipulator, the parts and tools with which it
deals, and other objects in the manipulator's environment.

• At a crude but important level, these objects are described by just two attributes:
position and orientation.

• Naturally, one topic of immediate interest is the manner in which we represent

these quantities and manipulate them mathematically.

• In order to describe the position and orientation of a body in space, we will always
attach a coordinate system, or frame, rigidly to the object.

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 Cont…..
• We then proceed to describe the position and orientation of this frame with

respect to some reference coordinate system.

• Any frame can serve as a reference system within which to express the position

and orientation of a body, so we often think of transforming or changing the

description of these attributes of a body from one frame to another.

Coordinate systems or
"frames" are attached to the
manipulator and to objects in
the environment
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 Forward kinematics of manipulators
• Kinematics is the science of motion that treats motion without regard to the
forces which cause it. Within the science of kinematics, one studies position,
velocity, acceleration, and all higher order derivatives of the position variables
(with respect to time or any other variable(s)).
• Hence, the study of the kinematics of manipulators refers to all the geometrical
and time-based properties of the motion.
• A very basic problem in the study of mechanical manipulation is called forward
kinematics.
• This is the static geometrical problem of computing the position and
orientation of the end-effector(tool frame) of the manipulator. Specifically,
given a set of joint angles.

Kinematic equations describe the

tool frame relative to the base frame
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as a function of the joint variables.
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 Inverse kinematics of manipulators
• This problem is posed as follows:
• Given the position and orientation of the end-effector of the manipulator,
calculate all possible sets of joint angles that could be used to attain this
given position and orientation. This is a fundamental problem in the
practical use of manipulators.

For a given position and orientation of

the tool frame, values for the joint
variables can be calculated via the
inverse kinematics.

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 Robot motion Analysis and Dynamics
 We are interested in two kinematics topics:

 Forward Kinematics (angles to position)

What you are given: The length of each link

The angle of each joint

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

What you can find: The angles of each joint needed to obtain

that position

 OR

Forward Kinematics: to determine where the robot’s hand is?

(If all joint variables are known)

Inverse Kinematics: to calculate what each joint variable is?

(If we desire that the hand be located at a particular point)

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 Robotics (EP-5532) by Belaynesh
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Belachew
 Quick Math Review
 Dot Product:
 The dot product of two vectors is a scalar.
 Let u = (ux, uy, uz), v = (vx, vy, vz)
Then, w = u * v = ux vx + uy vy + uz vz
 Cross product:
 The cross product of two vectors is a vector
 Two non-parallel vectors u and v can be moved such that their initial
points coincide, w = u X v is also a vector.
 w is in the normal defined by the plane by u and v.
 The magnitude is |u| |v| sin θ.

 Unit Vector:
 Vector in the direction of a chosen vector but whose magnitude is 1.
B
uB  B
B
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 Cont…
 Orientation and unit vector:
 Orientation of a vector can be expressed with a unit vector.
 It is used to indicate directions. In 3-D,

 Matrix Multiplication:
 An (m x n) matrix A and an (n x p) matrix B, can be multiplied since the number of
columns of A is equal to the number of rows of B.
 Non-Commutative Multiplication a b   e f  ae  bg  af  bh
AB is NOT equal to BA
c d    g  
h  ce  dg  cf  dh
  

 Matrix Addition:

a b   e f   a  e b  f 
c d    g 
h  c  g  d  h
  
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 BASIC MANIPULATOR GEOMETRIES

Basic Joints:
 A robot arm or manipulator is composed of a set of joints, links, grippers and base part.

 The joints are where the motion in the arms occurs, while

 the links are of fixed construction.

 Thus the links maintain a fixed relationship between the joints.

 The joints may be actuated by motors or hydraulic actuators.

 There are three sorts of robot joints, involving two sorts of motion.

 A revolute joint is one that allows rotary motion about an axis of rotation.
 1 DOF ( Variable - 𝜃), fig-a.

 An example is the human elbow.

 A prismatic joint is one that allows extensions or

telescopic motion.

 1 DOF (linear) (Variables - d), fig-b.

 An example is a telescoping automobile antenna.

 Spherical Joint
 3 DOF ( Variables - 1, 2, 3), fig-c.
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 example industrial robot. 12
 Open Chain Manipulator:
 In this types of the arm, mechanics of a manipulator can be represented as a kinematic chain of

rigid bodies (links) connected by revolute or prismatic joints.

 One end of the chain is constrained to a base, while an end effectors is mounted to the

other end of the chain as shown in figure-3.1.

 In the open chain robot arm, the resulting motion is obtained
by composition of the elementary motions of each link

with respect to the previous one.

 The joints must be controlled individually.

Fig-3.1: Open chain serial robot arm.

Closed Chain Manipulator:

 Closed Chain Manipulator is much more difficult than open chain manipulator.

 Even analysis has to take into account statics, constraints from other links, etc.

 Parallel robot is a closed chain.

 For this type of robots, the best example is

the Stewart platform shown in fig-3.2.

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 RIGID MOTIONS AND HOMOGENEOUS TRANSFORMATIONS
 A robot kinematics is concerned with the establishment of various coordinate systems to

represent;
 the positions and orientations of rigid objects, and
 with transformations among these coordinate systems.
 In this chapter,
 we study the operations of rotation and translation, and
 introduce the notion of homogeneous transformations.
 Homogeneous transformations combine;

 the operations of rotation and translation into a single matrix multiplication, and are

 used to derive the so-called forward kinematic equations of rigid manipulators.

 We begin by examining representations of points and vectors in a Euclidean space equipped with

multiple coordinate frames.

 Following this, we introduce the concept of a rotation matrix to represent relative orientations

among coordinate frames.

 Then we combine these two concepts to build homogeneous transformation matrices, which can

be used:

 to simultaneously represent the position and orientation of one coordinate frame relative to
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another.
 REPRESENTING POSITIONS and ROTATIONS

 In order to represent the relative position and orientation of one rigid body with

respect to another,

 we will rigidly attach coordinate frames to each body, and

 then specify the geometric relationships between these coordinate frames.

 Before developing representation schemes for points and vectors, it is instructive to

distinguish between the two fundamental approaches to geometric reasoning:

 the synthetic approach and

 the analytic approach.

 In the former, one reasons directly about geometric entities (e.g., points or lines),

 while in the latter, one represents these entities using coordinates or equations, and

reasoning is performed via algebraic manipulations.

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 Cont…

 Consider Figure 3.3.

Fig. 3.3: Two coordinate frames, a point p, and two vectors v1 and v2.

 The figure shows two coordinate frames that differ in orientation by an angle of 450.

 Using the synthetic approach, without ever assigning coordinates to points or

vectors, one can say that

 x0 is perpendicular to y0, or

 that v1×v2 defines a vector that is perpendicular to the plane containing v1 and

v2, in this case pointing out of the page.

 In robotics, one typically uses analytic reasoning, since robot tasks are often

defined using Cartesian coordinates.

 Of course, in order to assign coordinates it is necessary to specify a coordinate frame.
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 Cont…

 Consider again Figure 3.3.

 We could specify the coordinates of the point p with respect to either frame o0x0y0

or frame o1x1y1.

 In the former case, we might assign to p the coordinate vector (5, 6)T , and

 in the latter case (−2.8, 4.2)T .

 So that the reference frame will always be clear, we will adopt a notation in which a

superscript is used to denote the reference frame.

 Thus, we would write

 Geometrically, a point corresponds to a specific location in space.

 We stress here that p is a geometric entity, a point in space, while

 both p0 and p1 are coordinate vectors that represent the location of this point in

space with respect to coordinate frames o0x0y0 and o1x1y1, respectively.

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 Representation of a Point in Space:
^ ^ ^
 A point P in space : P  ax i  by j  cz k
 3 coordinates relative to a reference frame

Fig- 3.4: Representation of a point in space.

 Representation of a Vector in Space:
__ ^ ^ ^
 A Vector P in space : P  ax i  by j  cz k x
 3 coordinates of its tail and of its head __  y
P 
z
 
 w
Fig-3.5: Representation of a vector in space

 Representation of a Frame at the Origin of a Fixed-Reference Frame:

 Each Unit Vector is mutually perpendicular:

 nx ox a x 
F  n y o y a y 
 normal, orientation, approach vector
 nz oz a z 
Fig-3.3 Representation of a frame at the origin of the reference frame
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 Cont…

Representation of a Frame in a Fixed Reference Frame:

 Each Unit Vector is mutually perpendicular:

 nx ox ax Px 
n oy ay Py 
F  y

 nz oz az Pz 
 
0 0 0 1

Fig-3.3 Representation of a frame in a frame

Representation of a Rigid Body:

 An object can be represented in space by attaching a frame

to it and representing the frame in space.

 nx ox ax Px 
n oy ay Py 
Fobject   y

 nz oz az Pz 
 
0 0 0 1
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Fig-3.4: Representation of an object in space
  Basic Transformations:-

Moving Between Coordinate Frames

Translation Along the X-Axis

 Px = distance between the XY and NO coordinate planes

 Notation:

………………..(3.1)

 Writing V XY in terms of V NO
;

PX  V N 
V XY
 O   P V NO ………… (3.2)
 V 

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 Cont…

Translation along the X-Axis and Y-Axis

 Where,
 Px 
P XY
 
PY  ………………….(3.3)
 Referring the above figure and using equations (3.1), (3.2) and (3.3), we have;

PX  V N 
V XY  P V NO  O  ……… ……..(3.4)
PY  V 

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 Cont…

Using Basis Vectors

 Basis vectors are unit vectors that point along a coordinate axis.

 Where,

n - Unit vector along the N-Axis

o - Unit vector along the O-Axis

V NO - Magnitude of the VNO vector

NO
 The vector V can be expressed as:

V N   V cosθ  V NO cosθ  V NO  n 
NO

V NO   O    NO    NO    NO  …………………(3.5)
V   V sinθ   V cos(90  θ)  V  o 

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 Cont…

Rotation (around the Z-Axis)

 Let, θ = Angle of rotation between the XY and NO coordinate axis as shown below.
Y

Z X

 Using the notations vectors as, V X  V N 

V XY
  Y V NO
  O  ……………….(3.6)
V  V 
 For x = Unit vector along X-Axis,

V Can be considered with respect to the XY coordinates or NO coordinates.

 From the above figure, V XY  V NO

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 Cont…

 Thus;

(Substituting for VNO using the N and O

components of the vector)

…………………..(3.7)

 Similarly….

…..…… ………(3.8)
 So….

…………………………(3.9)

 Finally, the Rotation Matrix about the z-axis can be written in Matrix Form as;

… ………………(3.10)
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 Cont…

Translation along P followed by rotation by 

…………………..(3.11)

 Note: - Px, Py are relative to the original coordinate frame.

- Translation followed by rotation is different than rotation followed by translation.


 knowing the coordinates of a point (VN,VO) in some coordinate frame (NO);

you can find the position of that

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point relative to your original coordinate frame (X0 Y0).
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 HOMOGENEOUS REPRESENTATION:

 Putting it all into a Matrix.

 What we found by doing a translation and a rotation,

V X  Px  cosθ  sinθ V N 
XY
  Y       
cosθ  V O 
V
V  Py   sinθ
 Padding with 0’s and 1’s, V X  Px  cosθ  sinθ 0  V N 
   
 V Y   Py    sinθ cosθ 0 V O 
 1   1   0 0 1  1 
 
 Simplifying into a matrix form, V X  cosθ  sinθ Px  V N 
   
 V Y    sinθ cosθ Py  V O  ……………(3.12)
 1   0 0 1   1 
 
 From eqn. (3.12), the Homogenous Matrix for a Translation in XY plane, followed by

a Rotation around the z-axis can be written as:

cosθ  sinθ Px 
H   sinθ cosθ Py  …………………….(3.13)
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Robotics 27
 Cont…

Rotation Matrices in 3D;

 Rotation around the Z-Axis

cosθ  sinθ 0
R z   sinθ cosθ 0 …………………(2.14)
 0 0 1
 Rotation around the Y-Axis

 cosθ 0 sinθ 
R y   0 1 0  …………………..(2.15)
 sinθ 0 cosθ

 Rotation around the X-Axis

1 0 0 
R x  0 cosθ  sinθ ……………………(2.16)
0 sinθ cosθ 
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  Homogeneous Matrices in 3D
 H is a 4x4 matrix that can describe a translation, rotation, or both in one matrix.

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 Homogeneous Continued….

 The rotation and translation part can be combined into a single homogeneous

matrix IF and ONLY IF both are relative to the same coordinate frame.

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 Example
A point is attached to a rotating frame, the frame rotates
60 degree about the OZ axis of the reference frame. Find the
coordinates of the point relative to the reference frame after the
rotation.

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 Finding the Homogeneous Matrix:

EX-1:

Fig-3.11: Two coordinate frames that differ by only a translation.

 For the figure 3.11, the translation matrix,

 Translation matrix = , and

 changing for x, y, z axis, ΔX = Xm- Xc = 5, ΔY = Ym- Yc = -4, ΔZ = Zm- Zc = -1

 Thus, The transformation matrix,

 Where, = The transformation that you use to take a point in j-coordinates and

compute
2/10/2025 its location in k-coordinates.
Robotics (EP-5532) by Belaynesh Belachew 43
 Cont…

 If there is a rotation around the x, y or z axis,

 The rotation matrix reforms below,

Ex-2:

 Consider the simple robot arm from figs. (3.12) & (3.13) with the joint rotated by ψ degrees.

Fig-3.12: A simple arm.

Fig-3.13: The robot arm from fig-3.12 with the joint rotated by ψ degrees.

 For the figure 3.13, Transformation matrix,


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 Cont…

Ex-3:

 A point in the tool coordinate system is (xN, yN, zN). The origin of the tool

coordinate is at (a, b, c) in the base coordinate system.

 What is (x0, y0, z0), this point in the base coordinate system?

Soln:
 Using simple analytical geometry,

 We can also use the translation transformation,

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 Cont…
Ex-4:
 A robot is holding a plate. The plate is at location (0, 0, 200) in the tool coordinate system. At
the ready position, the tool coordinate system is at (500, 0, 600) and rotated 900 about y0.
a) What is the location of the plate in the base coordinate system?
b) If the base is rotated 300 about z0, what is the location of the plate?

a)

b)

 If you swap the order of z rotation and translation, you will have Tran(433, 250,600)Rot(z,30)Rot(y,90).
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Please verify.
 Cont…
Ex-5:

 Consider the first two joints in a SCARA robot.

Top view.

 We can consider the link 2 being translated to point P then rotated for θ1.
Soln:
 The translation to P along x0 and y0 are: a1 cos θ1, a1 sin θ1.
 The rotation is about z for θ1.
 The vector in the translated coordinate is v1 = (a2 cos θ2, a2 sin θ2, z, 1)T
 Let’s use the standard transformation to calculate TCP with respect to (x0, y0, z0).

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 Transformation Rule
Composite Homogeneous Transformation Matrix Rules:
Transformation (rotation/translation) w.r.t (X,Y,Z) (OLD FRAME), using
pre-multiplication
Transformation (rotation/translation) w.r.t (U,V,W) (NEW FRAME),
using post-multiplication

Example -1
Find the homogeneous transformation matrix (T) for the following

operations:

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 Example -2

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  Robot kinematic analysis (Forward Kinematics)
 An industrial robot has 4, 5, 6 or even more dof. The transformation from the base to TCP can be
complex.
 People in the field developed conventions and step-by-step method to cope with the complexity.
 In addition, the location and orientation of the end effectors becomes bulky if found directly.
 With the transformation introduced earlier,
 the transformation of the entire robot can be decomposed to successive
transformations between connected links.
 In order to be consistent, people in the field follow certain convention in naming
links and joints and define the angles.
 This is called Denavit-Hartenberg convention and homogeneous transformation.
 Let joint n has transformation Ai.
 The transformation of a robot with N dof has is:
…………………..(2.17)
 TN defines the location and orientation of the tool coordinate system (TCP).

 Then, a point in the base coordinate:

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v0 =by0Belaynesh
Robotics (EP-5532)
Tn vn………………….(2.18)
Belachew 58
 Open Chain manipulator
• From a topological viewpoint, the kinematic chain is termed
open when there is only one sequence of links connecting the
two ends of the chain.
• Alternatively, a manipulator contains a closed kinematic chain
when a sequence of links forms a loop.
• The mechanical structure of a manipulator is characterized by a
number of degrees of freedom (DOFs) which uniquely
determine its posture.
• Each DOF is typically associated with a joint articulation and
constitutes a joint variable.
• The aim of direct kinematics is to compute the pose of the end-
effector as a function of the joint variables.

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 Cont’d

Description of the position and orientation of the end-effector frame

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 Cont’d
• The pose of a body with respect to a reference frame is described
by the position vector of the origin and the unit vectors of a frame
attached to the body.
• Hence, with respect to a reference frame
Ob–xbybzb, the direct kinematics function is
expressed by the homogeneous transformation
matrix

where q is the (n × 1) vector of joint variables, ne, se, ae are

the unit vectors of a frame attached to the end-effector, and pe
is the position vector of the origin of such a frame with respect
to the origin of the base frame Ob–xbybzb
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•
Cont’d
Consider an open-chain manipulator constituted by n + 1 links connected by n
joints, where Link 0 is conventionally fixed to the ground.

Coordinate transformations in an open kinematic chain

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 Cont’d
• It is assumed that each joint provides the mechanical structure with a
single DOF, corresponding to the joint variable
• The construction of an operating procedure for the computation of
direct kinematics is naturally derived from the typical open
kinematic chain of the manipulator structure.
• In fact, since each joint connects two consecutive links, it is
reasonable to consider first the description of kinematic relationship
between consecutive links and then to obtain the overall description
of manipulator kinematics in a recursive fashion.
• To this purpose, it is worth defining a coordinate frame attached to
each link, from Link 0 to Link n.
• Then, the coordinate transformation describing the position and
orientation of Frame n with respect to Frame 0 is given by

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 Cont’d
• The actual coordinate transformation describing the position and
orientation of the end-effector frame with respect to the base frame
can be obtained as

where and are two (typically) constant homogeneous

transformations describing the position and orientation of Frame
0 with respect to the base frame, and of the end-effector frame
with respect to Frame n, respectively.

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 Establishing Frames Between Links of a Robot
• A robot is a series of links and joints, which creates a kinematic
chain. Each link connnects 2 adjacent joints, and each joint
connects 2 adjacent links (see figure 1.)
• We need to set up a coordinate f rame for every joint of the robot.
Once we do this, we can establish a set of transformations that will
take us from one joint frame to the next.

• If we combine all these transformations from frame 0 to frame n,

we can define the entire robot transformation matrix Tn .
• All joints, without exception, are represented by a Z axis. If we
have a revolute (rotary motion) joint, we rotate about Z . If we have
a prismatic joint ( a linear sliding joint), we translate along Z .
Notation: joint n connects link n − 1 and link n, and it rotates θn about
the Z n − 1 axis. When joint n is actuated, link n moves.
•

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 Cont….
• A robot with n joints will have n + 1 links, since each joint connects 2 links.
We number the joints from 1 to n, and we number the links from 0 to n
starting at the base. We can think of link 0 as the fixed base of the robot that
never moves.

• With the ith joint we describe a joint variable qi, which is an angular rotation
if a revolute joint or a linear displacement if a prismatic joint.

• Each link has a coordinate frame attached to it. Frame oixiyizi is attached to
link i. This means that whatever robot motions occur, the coordinates of
every point on link i are constant when expressed in the ith coordinate frame.

• When joint i is actuated, the link i and its entire frame experience a
resulting motion. Figure 1 shows a more general way to analyze the
relationship between links and joints.

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 Cont….

figure 1 Relationship of joints and links on a robot mechanism

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 Creating Transform T i−1 from Frame
i − 1 to Frame i
• We need to specify 4 parameters that will allow us to completely
describe the transformation from one frame of the robot to the
next. These parameters are called the Denavit − Hartenberg
parameters. When we describe a robot using this notation, we
refer to it as D − H notation.

1. Rotate about the Z axis by an angle of θ . θ is called the joint angle.

i−1 i i

2. Translate along Z by d . d is called the link offset distance.

i−1 i i

3. Translate along X axis (newly rotated X axis from step 1 above)

i

by a . This will bring the orgins of the two coordinate frames

i

together. a is called the link length.

i
•

• 4. Rotate about the X axis by an angle α . This angle is called the

i i

link twist angle, and it will align the Z axes of the two frames.

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 Cont….
• This entire process can be summarized by
chaining together the 4 transformations
above into a single composite transformation:
T i − 1 = Rot(Z, θ i ) Trans(Z, d i ) Trans(X, a i ) Rot(X, α i )

We will see that this choice of parameters is not unique. However, this is a
standard way of specifying the relation of each coordinate frame to the next one
in a serial kinematic chain.
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 Settting up a Frame Diagram
• In analyzing a robot mechanism, we often create a frame diagram that
graphically shows the relationships between the DH-frames of the robot.
•
• Starting from a base coordinate frame, we align the Z axis with the first joint
axis. Call this joint axis Z i − 1 . Every joint axis in the mechanism will be a Z
axis. The axis of the next joint in the chain Z i is either parallel, intersecting or
skew with Z i − 1 .
•

• – if Z i and Z i − 1 are intersecting, then X i is in the direction of the cross

product of the 2 Z axes.

• – if Z i and Z i − 1 are parallel, then X i is in the direction of common normal

between the 2 parallel axes. Since there are many equal normal between
the 2 parallel axes, we usually take as the X i axis the normal through the
origin O i−1 from the previous frame and establish origin Oi as the point of
intersection of the normal with Z i . Note that the link offset distance di will
be zero in this case.
• – if Z i and Z i − 1 are skew, then X i is in the direction of the common (unique)
normal between the 2 axes.

• – Once we have a new X and Z axis, and an origin for the new frame we are
done. The Y axis will simply be the cross product of Z and X .
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 Cont….
•Using these rules we then move out the mechanism, a
joint and a frame at a time, filling in the D-H
parameters and setting up the manipulator transforms.
• We also usually designate a zero − position frame
diagram of the robot which is a graphical depiction of
the frames when all joint variables are zero. The
examples that follow will make this clear.
• Another analysis of the manipulator is to define its
geometric workspace: the volume of space reachable
by the endpoint of the manipulator. For the next
example of the elbow manipulator, the workspace is a
sphere.

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Setting up a Table of D-H parameters:
 From the discussion above, all we need to provide to solve the forward kinematics of a robot are

4 parameters:

 If we fill in a table like the one below, we can completely specify the robot’s forward kinematic

structure:

 Using this table, we can just plug into the transform matrix for each link of the robot, and

multiply them together.

 Note that: the joint variable is either θ for revolute joints or d for prismatic joints.

 Examples
5 Figure 3.15 shows a 3-link elbow manipulator.

Fig-3.15: Coordinate frames attached to

a 3-link elbow manipulator

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 Cont…

 From Fig-3.15 (D-H frames for 3 link elbow manipulator), the D-H parameters can be easily

tabulated.

 Note: manipulator is pictured after rotation (θ1 , θ2 , θ3) = (90, 0, 0)

Assume link lengths of a2 and a3 for links 2 and 3, and that the link 1 offset is d1:

 Where;

 If (θ1 , θ2 , θ3) = (90, 0, 0), then substituting in we get the matrix:

 This shows the end effector location as (0, a2+a3, d1).

 Note also the directions of the axes in the final end-effector frame are equal to the column

vectors of
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 Ex-6: Forward Kinematics,
Cylindrical Manipulator

Fig-3.16: Three link Cylindrical Manipulator

 Figure 3.16 shows a picture of this mechanism and its frame diagram.

 It shows the robots configuration for each link of the robot.

 The table of joint parameters is:

 Substituting these values into the D-H frame transformation matrices we get:

Note: d1 could be zero, in which case the origin of link 1 would be the same as link 2’s origin.

 Let θ1 = 90, d1 = 0, d2 = 3 and d3 = 5.

 Then substituting into the transform matrix, we can see the manipulator endpoint (last column of matrix)

is at (-5; 0; 3).
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 Ex-7: Forward Kinematics, Spherical Wrist

Fig-2.17: Spherical wrist frame assignments

 A spherical wrist can be added to the cylindrical manipulator to orient the end-effector (gripper) in space.
 The first 2 angles effectively point the gripper in a spherical coordinate system, and the last angle is a roll angle
that orients the gripper about the approach axis.
 The table of joint parameters is:

 Substituting these values into the D-H frame transformation matrices we get:

 You can append the 2 matrices to get the final matrix of the cylindrical manipulator with the spherical
wrist. This mechanism has 6 DOF and 6 joint variables: θ1; d2; d3; θ4; θ5; θ6.
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 Ex-8: Forward Kinematics, 3 Link Manipulator B
 Figure 2.18 shows a picture of this mechanism and its frame diagram.

Fig-2.18: Manipulator B: Mechanism and frame diagram

 It shows the robots configuration for each link of the robot.

 The table of joint parameters is as follows:

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 Cont…

 Substituting these values into the D-H frame transformation matrices we get

(note: C23 = Cos(θ2 + θ3), same for S23.

 If θ1 = 90, θ2 = 90, θ3 = -90, then

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 Ex-9: Forward Kinematics, 3 Link Manipulator D

 Figure 3.19 shows a picture of this mechanism and its frame diagram.

Fig-3.19: Manipulator D: Mechanism and frame diagram

 The table of joint parameters is as follows:

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 Cont…

 Substituting these values into the D-H frame transformation matrices we get:

 if θ1 = 90 and θ3 = 0 and q2 = 5:

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Example-10:
 For the polar robot, what is TCP if θ1 = 900, θ2 = 300 and d3 = 5’’ ?

 That means, the TCP is at (0, 2.5, -4.33), The gripper is pointing down & front.

 The gripper opens along y, so it is along x axis.

 Forward kinematics can also be used to relate positions in tool coordinate and base coordinate.

Example-11:
 If a point in the scope link coordinate is (0, 0, 1), where is TCP and what is its orientation if

θ1 = 900, θ2 = 300 and d3 = 5’’ ?

 This means, a point (0, 0, 1) in the

2/10/2025 gripper
Robotics coordinate
(EP-5532) by Belaynesh is at (0, 3, -5.196) in base coordinate.
Belachew 82
  Inverse Kinematics
 Introduction:
 We knew that,

 the forward kinematics problem of a manipulator is to determine the configuration (position

and orientation) of the end effector of the manipulator as a function of the manipulator’s

joint angles.

 The inverse problem of that,

 i.e., determining the joint angles given a desired end effector configuration, is the inverse

kinematics problem.

 There are two main categories of approaches to this problem; namely,

 closed-form analytical methods and

 numerical approaches.

 The main difficulty of the inverse kinematics problem in general is that for some desired end

effector configuration,

 there may be no solutions,

 there may be a unique solution, or

 there may be multiple (Redundancy)

2/10/2025 solutions.
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