EE4213

Robotics and Mechatronics

Lecturer
Dr. Buddhika Jayasekara

LECTURE 6

2/14/2017 11:08 AM LECTURE I 1

 Robot Kinematics-Forward Kinematics

End-effector position and orientation

Y  ( x, y, z , O, A, T )
z

y
q  (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
Given joint variables
x

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 Robot Kinematics- Inverse Kinematics

End-effector position and orientation

Y  ( x, y, z , O, A, T )
z

y
q  (q1 , q2 , q3 , q4 , q5 , q6 ,qn )
Given joint variables
x

3
 Homogeneous Representation

• Coordinate transformation from {B} to {A}

r  ARB B r P  Ar o '
A P

 A r P   A RB 
A o'
r  r 
B P

   
 1   013 1  1 
• Homogeneous transformation matrix
 RB
A A o'
r   R33 P31  Rotation
matrix
TB  
A
 
 013 1   0 1  Position
vector
Scaling
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 D-H Parameters

The Denavit-Hartenberg parameters (DH

parameters) are the four parameters associated with
a particular convention for attaching reference frames
to the links of a spatial kinematic chain, or robot
manipulator

Jacques Denavit and Richard Hartenberg introduced

this convention in 1955 in order to standardize the
coordinate frames for spatial linkages

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 Denavit-Hartenberg (D-H) Parameters
D-H Notation

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)

 Each joint is assigned a coordinate frame

 Using D-H notation four parameters are necessary
to describe relationship of a frame (i) and its
previous frame (i -1)  , a, d ,  6
 D-H Parameters Cont…
Definition- 
( i 1)

Z(i - 1)

Y(i -1) Yi Zi

Xi

X(i -1)

( i - 1)

 Amount of rotation around common perpendicular so that joint axes are

parallel

 Rotation angle around X(i-1) axis so that Z(i-1) is pointing in the same
direction as Zi axis. Positive rotation follows the right hand rule.
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 D-H Parameters Cont…
Definition- a(i-1)

Z(i - 1)

Y(i -1) Yi Zi

Xi
a(i - 1 )
X(i -1)

( i - 1)

 a(i-1) is the length of the perpendicular between the joint axes

 Around the joint axes revolution takes place. The axes are Z(i-1) and
Z(i)
 Common perpendicular is the shortest line between two axis-lines and
is perpendicular to both axis-lines

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 D-H Parameters Cont…
Definition- di

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)

( i - 1)

 Displacement along Zi axis needed to align a(i-1) common

perpendicular to ai common perpendicular

 In other words, displacement along Zi to align X(i-1) and Xi axes

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 D-H Parameters Cont…
Definition-  i

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)

i
( i - 1)

 Amount of rotation around Zi axis needed to align

X(i-1) axis with Xi axis

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 D-H Parameters Cont…
Summery D-H Parameter

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)

i
( i - 1)

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D-H Parameters
Frame Assignment

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 cosθ i  sinθ i 0 a(i 1) 
sinθ cosα cosθ i cosα (i 1)  sinα (i 1)  sinα (i 1) d i 
 i (i 1)

 sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1) d i 
 
 0 0 0 1 

LECTURE 2 13
 Assignment

I. A arm with three DOF. Joint 1’s axis is not parallel to other
two. There is a twist of 90 degrees. Derive link parameters
and kinematic equations for

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 Assignment

II. Find the Jacobian of the manipulator interms of frame {4}

located at the tip of the hand

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 Assignment 2-I

Frame Assignment
X4

Y4 X3 Z4

Z1 Z0 Y3 Z3

X2
Y2
Y1

X1
Z2

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 D-H Parameters Cont…
Summary D-H Parameter

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)

i
( i - 1)

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 Assignment 2-I
DH parameters
X4

Y4 X3 Z4

Joint ai-1 i-1 di i

Z0 Y3
1 0 0 0 1 Z1 Z3

2 L1 90 0 2 Y2
X2
Y1
3 L2 0 0 3
X1
Z2

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 cosθ i  sinθ i 0 a(i 1) 
sinθ cosα cosθ i cosα (i 1)  sinα (i 1)  sinα (i 1) d i 
 i (i 1)

 sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1) d i 
 
 0 0 0 1 

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 X4

Y4 X3 Z4

Z1 Z0 Y3 Z3

X2
Y2
Y1

X1
Z2

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 Assignment

We have
X4

Y4 X3 Z4

Z1 Z0 Y3 Z3

X2
Y2
Y1

X1
Z2

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 Thank you

2/14/2017 11:08 AM LECTURE I 22