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Robotics Week 8 01112024 123244pm

The document discusses forward kinematics in industrial robotics, focusing on the structure of robotic manipulators, including links, joints, and joint variables. It introduces standard terminologies and the Denavit-Hartenberg representation for kinematic analysis, detailing the assignment of frames and the calculation of transformation matrices. Additionally, it provides examples of various robotic configurations and references for further reading.

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7 views33 pages

Robotics Week 8 01112024 123244pm

The document discusses forward kinematics in industrial robotics, focusing on the structure of robotic manipulators, including links, joints, and joint variables. It introduces standard terminologies and the Denavit-Hartenberg representation for kinematic analysis, detailing the assignment of frames and the calculation of transformation matrices. Additionally, it provides examples of various robotic configurations and references for further reading.

Uploaded by

aqsaadnan12.2004
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Department of Electrical Engineering

BSEAS H-11 Campus

Week # 8: Forward Kinematics

Dr. Maryam Iqbal


Assistant Professor, EE Dept
Forward
Kinematics
• An industrial robot has
• Links
• Joints
• Two basic types are revolute and prismatic
• Joint variables, q
• Objective is to have the cumulative effect of entire set of joint
variables.
Forward
Kinematics
• One way to formulate forward kinematics is to analyze the robotic
kinematic chain as we did in previous lectures, i.e. without any regard
to conventions/standards.
• Another way is to follow some convention so that all Robot Engineers
can communicate with each other using this standard language.
Standard
Terminologies
• A robot manipulator with n joints will have n+1 links
• Joints are numbered as 1 to n, while links as 0 to n
• Hence joint i connects link i-1 and i, also when joint i is actuated link i
moves, therefore link 0 is fixed and doesn’t move when link 1 is
actuated.
•With the ith joint we associate joint variable qi
Standard
Terminologies
•To perform kinematic analysis we attach frame oixiyi to link i
• Furthermore when joint i is actuated link i moves
•Frame o0x0y0 is attached to the base of the robot and is called Inertial
Frame
Standard
Terminologies
• Homogeneous Transformation Matrix Ai expresses the position and
orientation of frame oixiyi w.r.t oi-1xi-1yi-1 and is a function of qi only if
each joint is supposed to have 1-DOF only.
• Hence Transformation Matrix can now be written as
Denavit-Hartenberg
Representation
• Each Homogeneous Transformation matrix is represented as product
of four basic transformations
Denavit-Hartenberg
Representation
• Four associated parameters are
• Θi = joint angle
•ai = link length
•di = link offset
• αi = link twist
• Note: Only one of the four parameters is variable, while rest are
constant link parameters.
• Question: How can we express a homogeneous matrix using 4
parameters only???
Denavit-Hartenberg
Representation
• Using following two constraints we can express homogeneous matrix
using 4 parameters only.
• DH1: The axis x1 is perpendicular to
axis z0
• DH2: The axis x1 intersects the
axis z0
Denavit-Hartenberg
Representation
• If DH-constraints are satisfied then 4 parameters are defined as:
• a: distance between z0 and z1 measured along x1
• α: angle between z0 and z1 measured in a plane normal to x1
• d: distance between the origin o0 and the intersection of x1 with z0 measured
along z0
• Θ: angle between x0 and x1 measured in a plane normal to z0
Frame
Assignment
• Follow the following procedure to assign frames that will conform
with the DH-constraints.
• Assign zi axis to be the axis of actuation for joint i+1, thus z0 is the axis of
actuation for joint 1, and z1 is the axis of actuation of joint 2 and so on. This
thing holds whether the joint is revolute or prismatic.
• Once all z-axes has been defined, locate inertial frame at any
reasonable/suitable position along z0
• Now start defining frames from 1 to n using previous frame
Frame
Assignment
• Follow the following procedure to assign frames that will conform
with the DH-constraints.
• Consider three cases:
• 1: the axes zi-1 and zi are not coplanar: the common normal defines xi
and
oi is the point where this common normal intersects zi
• 2: zi-1 is parallel to zi: Infinite common normal exist so there are infinite
choices of xi. One intuitive way is to choose xi such that it passes through
oi-1. This will make parameter di = 0. Here αi will also be zero
• 3: zi-1 intersects zi: In this case xi is chosen to be in the plane normal to
both zi and zi-1. Most suitable choice for the origin oi is the point of
intersection that will make ai = 0
Frame
Assignment
Frame
Assignment
• Follow the following procedure to assign frames that will conform
with the DH-constraints.
• Tool frame or end-effector frame is mostly attached at the tip of the end-
effector.
• The unit vectors along the axes xn, yn, zn are labelled as n (normal), s (Slide),
and a (approach)
Frame
Assignment
• Follow the following procedure to assign frames that will conform
with the DH-constraints.
• Axis zn coincides with zn-1
• The tool may rotate or move along zn-1 only
Frame Assignment
Steps
• Step 1: Choose z-axis for all frames
Frame Assignment
Steps
• Step 2: Establish Frame 0
• Place o0 at a suitable position along z0
Frame Assignment
Steps
•
Step 3: Iteratively construct
Frame 1 to n-1
• Use frame i-1 to construct frame i
• DH1: xi is perpendicular to zi-1
• DH2: xi intersects zi-1
• Keep in mind 3 different cases of
relation between zi and zi-1
Frame Assignment
Steps
• Step 4: Place the end-effector frame
Frame Assignment
Steps
• Step 5: Find DH Parameters
Frame Assignment
Steps
• Step 5: Find DH Parameters
Frame Assignment
Steps
• Step 6: Compute the Transformation
Frame Assignment
• Step 6: Compute the Transformation
Steps
Frame Assignment
Steps
• Step 7: Final Frame assignment
Example: Planar Elbow
Manipulator
• The joint axes z0 and z1 are normal to
the page. We establish the base frame
o0x0y0z0 as shown.
• Frame 1 and 2 are then established by
following the DH-constraints
Example: Planar Elbow
Manipulator
Example: Spherical Wrist
Example: Cylindrical Manipulator
with Spherical Wrist
Example: Cylindrical Manipulator
with Spherical Wrist
Example: SCARA
Robot
Example: 6 DOF UR-Type
Articulated Robot
Any
Questions
Referenc
es
• Robot Dynamics and Control (2 ed.) by Mark W. Spong,
Seth Hutchinson, and M. Vidayasagar
• Chapter 2: Section 2.5 and 2,6
• Chapter 3: Section 3.1 to 3.3

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