Arba Minch University

Arba Minch Institute of Technology

Faculty of Electrical and Computer Engineering

(ECEg5332)

Instructor: Mesfin K.
[email protected]

CHAPTER TWO MANIPULATOR KINEMATICS

PART-2–Kinematics

1
 Contents

• Link description
• Kinematic chain
• DH convention define link frame,
parameters
• Direct (Froward) kinematics
• Inverse kinematics
• Examples

2
 Link Description
• A manipulator consists of a series of rigid bodies
(links) connected by means of kinematic pairs or joints.
• joints: revolute and prismatic joints. each joint 1DOF.
• The links are from 0 (immobile base) to n (free end of
the arm).

3
 kinematic chain
• Closed kinematic chain: a sequence of links forms a loop.
• Open kinematic chain: is only one sequence of links chain.
approach
Norma sliding to object

open kinematic chain

closed kinematic chain 4

Example
What is the Direct Kinematics of 2R robot arm ?
• Geometric Approach
This might be the easiest solution
for the simple situation. For robots
with more links and whose arm
extends into 3D geometry gets much
more tedious.
• Algebraic Approach
Involves coordinate transformations
by assigning frames attached to the
robot link. Using homogeneous
transformation matrices

5
 DH convention define link Frame
• Denavit-Hartenberg (D-H) representation is a very simple way of
modeling robot links and joints of any configuration.
• Let axis i denotes the axis of the joint connecting link i−1 to link i.
A coordinate system Xi, Yi, Zi is attached to the links.
• Choose axis Zi-1 along the axis of joint i-1.
• Located the origin Oi at the
intersection of the common
normal to Zi−1 and Zi. Also, locate
Oi’ at the intersection of the
common normal with axis zi−1.
• Choose axis Xi along ai with
direction from Joint i to
Jointi+1. if ai=0 the common
normal to axes Zi −1 and Zi.
• Yi axis complete a right handed
frame.

6
 Ambiguities in defining DH Frames
• Frame 0, Z0 is specified; X0 axis are arbitrarily.
• Frame n, Since there is no Joint n+1, Zn is not
specified (but Xn has to be normal to axis Zn−1).
Typically, Joint n is revolute, and thus Zn is to be
aligned with the direction of Zn−1.
• When Zn-1 and Zn are parallel, the common normal
between them is not uniquely.
• When Zi and Zi+1 axes intersect:
the positive direction of Xi can be
chosen arbitrary.

7
 Link and joint Parameters

 Joint angle 𝜽i: the angle of rotation from the Xi-1 axis to the Xi axis
about the Zi-1 axis. It's the joint variable if joint i is rotary.
 Joint distance di: the distance from the origin Oi-1 to the intersection
of the Zi-1and Xi axis along the Zi-1 axis. It is the joint variable if
joint i is prismatic.
 Link length ai: the distance from the intersection of the Zi-1 and Xi axis
to the origin Oi along the Xi axis.
 Link twist angle αi: the angle of rotation from the Zi-1 axis to the Zi
axis about the Xi axis.
8
 DH Parameters
In Short
•  : A rotation about the z-axis.
• d : The distance on the z-axis.
• a : The length of each common normal (Joint offset).
•  : The angle between two successive z-axes (Joint
twist)

9
Homogeneous transformation between successive DH frames

• D-H transformation matrix for adjacent coordinate frames i

and i-1. The position and orientation of each link by the
following homogeneous transformation matrix.
• If the sequence of rotation and translation is taken in the
order:

i 1
Ti  Tz i Tz di Tx a i Tz i 

i 1
Ti  Tz i Tz di Tx a i Tz i 
10
 Froward Kinematics
• The forward kinematics problem for a serial-chain
manipulator is to find the position and orientation of the
end-effector relative to the base.
• Each link has his frame, thus the kinematics problem has
been broken into n sub problems for each transform can be
written as a combination of a translation and a rotation
• The complete transformation matrix of a robot gives the
location and orientation of the end effector with respect
to the base.
n 1
0
n T 10 T 12T n T

NOTE: The aim of direct kinematics is to compute

the pose of the end-effector as a function of the
joint variables.
11
 Example 8
For the planar 3R manipulator find
• Assign D-H coordinates frames
i. Find link parameters and the DH table
i. Transformation matrix for each link
ii. Over all transformation matrix
iii. Position of the end effector

• Soln. i)
i αi ai di Θi
1
2
3

12
 Example: SCARA robot
Step 1: joint axes

Step 2: link axes

Step 3: frames
Step 4: DH table of
parameters

13
 Step 5: transformation matrices

Step 6: direct kinematics - as homogeneous matrix BTE

14
 Example 9: 3R Revolute Joints
Joint 3

Link 1
d2
Link 2

Joint 1 Joint 2

a0 a1
Steps to Froward kinematics model:
• Assign frames
• Find link parameters and the DH table
• Transformation matrices of adjacent joints
• Calculate Froward Kinematics Matrix
• Position of the end effector.
15
 Example
Z3
Z0 Z1
Joint 3
Y0 O3 X3
Y1

d2
Joint 1
O0 X0 O1 X1 O2 X2 D-H Link Parameter Table
Joint 2
Link i i ai di i
Y2
1 0 a0 0 0
a0 a1
2 -90 a1 0 1

2
 i : rotation angle from Zi-1 to Zi about Xi 3 0 0 d2

ai : distance from intersection of Zi-1 & Xi to origin of i coordinate along Xi

d i : distance from origin of (i-1) coordinate to intersection of Zi-1 & Xi along Zi-1
 i : rotation angle from Xi-1 to Xi about Zi-1
16
 Example 10: PUMA 260
1. Number the joints
2. Establish base frame
1 2
3. Establish joint axis Zi
Z1 4. Locate origin, (intersect.
O1 of Zi & Zi-1) OR (intersect
3 of common normal & Zi )
X1 Z2 Z 6
Y1 5. Establish Xi,Yi
Y3O2 Z4 X i  ( Z i 1  Z i ) / Z i 1  Z i
O3 XZ 5  Y6
Y2 2 6
5 Yi  ( Z i  X i ) / Z i  X i
Z0 O6
X 3 Y4 Y5
t
O5 O 5 X 6
X
4 Z3
X4 4
PUMA 260
17
 PUMA Link Parameters
J i i ai d i
1 1 -90 0 13
2 2 0 8 0
1 2 3 3 90 0 -l
Z1 4 4 -90 0 8
O1
3 5 5 90 0 0
X1 Z2 Z 6 6 6 0 0 t
Y1
Y3O2 Z 4  i : angle from Xi-1 to Xi
O3 XZ 5  Y6
Y2 2 6
 5 about Zi-1
Z0 O6
Y5
 i : angle from Zi-1 to Zi
X 3 Y4 about Xi
O5 O X 5 X 6 ai : distance from intersection
4 Z3 of Zi-1 & Xi to Oi along Xi
X4 4
Joint distance d i : distance from Oi-1 to intersection of Zi-1 & Xi along Z18i-1
Inverse kinematics - what are we looking for?

19
Inverse Kinematics
• Suppose the final position of the end effector is
known in terms of x, y, z. What would be the
corresponding θ’s to achieve the required position?
This is known as Inverse Kinematics.
• There are two main categories of approaches to this
problem; analytical 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
• unique solution
• multiple (Redundancy) solutions.
20
 Inverse Kinematics
• numerical approach is that it is relatively easy to implement.
• however, one drawback is that the method only leads to one solution
for one set of starting values for iterative method.
• analytical approaches is that all solutions can be found.
• Disadvantage is many steps and computations.
• In general, for the inverse kinematics problem; Given: position and
orientation of the tool Find: joint values
• If we know the location and orientation, then we know the
values of p, a, o and n, hence the matrix is known as:

From the given matrix, We

can setup up to 12
simultaneous equations.

21
Solvability and robot workspace

22
Workspace of planar 2R arm

23
A planar 3R arm - Number of inverse solutions

24
Multiplicity of solutions - some examples

25
 Example lV
Find the Inverse Kinematics of a Two Link Manipulator shown below
 Given: l1, l2 , x , y
 Find: θ1, θ2

Redundancy:
 A unique solution to this problem does not exist.
 Notice, that using the “givens” two solutions are
Two Link Manipulator
possible
 Sometimes no solution is possible.
The Geometric approach: Using the Law of Cosines θ1 and θ2 are found:
The Law of Cosines: Referring figure, the Law of Cosines are:

sin C C
sin B

b c B

26
 sinB sin C sin1 sin(180  2 ) sin(2 )
  
b c l2 x2  y2 x2  y2

1  1     arctan 2  y 
x
Similarly we can find
C 2  a 2  b 2  2abcosC
(x 2  y 2 )  l 2  l 2  2l l cos(180   ) cos(180  2 )  cos(2 )
1 2 1 2 2
 x 2  y 2  l 12  l 22 
x  y l l
2 2 2 2
 2 arccos 
cos(2 )  1 2
2l1l2 
2l1l2  
Hence, Redundant since θ2 could be in the first or fourth quadrant. Once θ2 is
determined, θ1 also calculatedas;
 l sin( )  y
1  arcsin 2 2   arctan2  
 x2  y2  x
 
 Redundancy caused since 2 has two possible values. 27
 The Algebraic Solution: Using the transformation matrix:

C S123 0 L1C1  L2C12  C1  cos1

 123
 C12  cos(1  2 )
0T   S123 C123 0 L1S1  L2S12 
3 
0 1 0  x L1C1  L2C12
 0 
 0 0  y  L1S1  L2 S12
 0 1 
let   1   2

  
x2  y 2  l12 C 12  l 22 C 122  2l1 l2C1 C12  l1 S1  l2 S12  2l1l2 S1 S 12
2 2 2 2

x 2  y 2  l12  l 22  2l l1 2 C1C12  S 1S 12 

x 2  y 2  l12  l 22  2l1 l2 C 2  (Only C2 is unknown)

 1 y  l2  l
2 2 2 2
C2  x S2  1 𝐶22
2l1l2
2  a tan 2(S2 ,C 2 )
28
 The Algebraic Solution:

• Then θ1 can be calculated as:

x  l1C1  l2C12 y  l1S1  l2 S12
x  C1 (l1  l2C2 )  S1 (l2 S2 ) y  l1S1  l2 S1C2  l2 S2C1
x 1 S2 (l2 S )
C1   ..........(*) y  C1 (l2 S2 )  S1 (l1  l2C2 ).......(**)
l1  l2C2
• Substituting (*) into (**)

y(l1  l2C2 )  xl2 S2

S1  C1 1 𝑆12
x2  y2

1  atan2(S1 ,C1)

29
 Inverse kinematics of Anthropomorphic Arm

• There exist four solutions according to the values of

𝜗3 , 𝜗2 𝑎𝑛𝑑 𝜗1 ∶
o (𝜗1,𝐼 , 𝜗2,𝐼 , 𝜗3,𝐼 )
o (𝜗1,𝐼 , 𝜗2,𝐼𝐼𝐼 , 𝜗3,𝐼𝐼 )
o (𝜗1,𝐼𝐼 , 𝜗2,𝐼𝐼 , 𝜗3,𝐼 )
o (𝜗1,𝐼𝐼 , 𝜗2,𝐼𝑉 , 𝜗3,𝐼𝐼 )

30