17/10/2017

ROBOTICS
Lecture 1
Prepared by : Yazen Hudhaifa

Difference between ‘’Robot ‘’ & ‘’Robotics’’

Robot : It is a machine that carries out a complex series of action
automatically or without human interference,
especially one has been programmed by computer.

Robotics : The branch of technology that deals with the design,

construction, operation, and application of robots.

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General Classification of Robotics

We can subdivided robotics according to the mobility to :

Fixed or Stationery
Mobile Robot
Robot

Industrial Robot
An automatically controlled , reprogrammable , multipurpose manipulator
programmable in three or more axes, which can be either fixed in place or mobile
for use in industrial automation applications.
Most common Industrial Robotics :
 FANUC : Handling Application (5kg to 1,350kg payload capabilities)
 KUKA Robotics : KUKA is a Chinese-owned German manufacturer of industrial robots and
solutions for factory automation.
 ABB : ABB Robotics focuses on creating high quality robots that are productive and reliable.

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Associations of Robots
JIRA (Japanese Industrial Robot Association)
 Class1: Manual-Handling Device : operator actuated; multiple degrees of freedom.
 Class2: Fixed Sequence Robot : (hard to modify)
 Class3: Variable Sequence Robot : (easy-to-modify)
 Class4: Playback Robot : (records motions of human operator and then replicates)
 Class5: Numerical Control Robot : ( program instead of record motion)
 Class6: Intelligent Robot: (understand environment)

Associations of Robots
RIA (Robotics Institute of America)
 Variable Sequence Robot(Class3)

 Playback Robot (Class4)

 Numerical Control Robot (Class5)

 Intelligent Robot (Class6)

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Associations of Robots
AFR (Association FranÇaise de Robotique)

Type A: Manual Handling Devices/ tele-robotics

Type B: Automatic Handling Devices/ predetermined cycles

Type C: Programmable, Servo controlled robot, continuous point-to-point

trajectories

Type D: Same type with C, but it can acquire information.

What are the parts of a robot?

• End Effectors
• Manipulator part
• Base
• Controller
• Power Source

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Analogy with Human Arm

Anatomy Representation

Body Base

Chest Link

Shoulder Joint

Upper arm Link

Elbow Joint

Fore- Arm Link

Wrist Joint

Robots degrees of freedom

• Degrees of Freedom: Number of independent position variables which

would has to be specified to locate all parts of a mechanism.

• In most manipulators this is usually the number of joints.

• Tow types or Joints ( Revolute (Rotation ) , Prismatic (linear))

Specifically, the ability to move forward and backward, up and down,

and to the left and to the right.

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Robot Configuration
1- Cartesian Robot (Gantry Robot )
Movement : 3P

- The robot move linearly in

Three axes ( X,Y ,Z) without any rotation.

- Work space : Rectangular

- Example : IBM RS-1 Robot

Cartesian Robot

Robot Configuration
2- Cylindrical Robot
Movement : R2P

- The robot has two linear Joints and one rotation.

- Work space : Cylindrical Shape

- Example : GMF’s M-14 Robot

Cylindrical Robot

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Robot Configuration
3- Spherical Robot
Movement : 2RP

- The robot has two revolute Joints

and one prismatic.

- Work space : Spherical Shape

- Example : Unimate 2000, Maker - 110

Polar Robot

Robot Configuration
4- Jointed Arm Robot
Movement : 3R

- The robot has three rotations.

- Work space : Irregular Shape

- Example : Cincinnati Milacron T3

Articulated Robot

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Robot Configuration
4- SCARA robot
Movement : 2RP

- The robot has two horizontal and parallel

revolute Joints with one prismatic up and down.

- Work space : Cylindrical

Degrees of Freedom : 3-6

SCARA Robot

Robot Configuration video

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Robot specification
1- Payload: the rated load carrying capacity of an industrial robot is defined by its
weight of the object or the tool held by the gripper.

2- Repeatability: the accuracy of the robot to repeat the predefined position

repeatedly. Estimated error should be adjusted through the software .

3- Precision: the reach of a position is defined by the resolution of the actuators and
feed back systems. The robot precision is given in terms of length units.

4- Reach: the lengths of the lengths of the robot links which is useful to determine
the work envelop.

What tasks can the robot do ?

• Material handling
• Material transfer
• Machine loading and/or unloading
• Spot welding
• Continuous arc welding
• Spray coating
• Assembly
• Inspection

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Common websites of robotics shopping

• RobotShop: http://www.robotshop.com/uk/
(Founded in 2003, they specialize in robotics technology and offer a wide range of
products and services in this sector. We operate globally and our head office is
located in Mirabel, Quebec, Canada.)

• ACTIVE ROBOT : http://www.active-robots.com/

• Robot Worx : https://www.robots.com/

(RobotWorx focuses on quality automation solutions at a lower price. Throughout
the years, we have provided high-quality customized integration for a large variety
of robotic applications. We offer new or reconditioned industrial robots, work cells
and parts.)

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Robotics-I Lecture 2: Spatial Description

2.1 INTRODUCTION

Since that the manipulation of the robotics implies moving parts or tools by the
mechanical mechanism in the space. Thus, we need to represent or describe the position
and orientation of parts or tools that is going to be carried by the robot arm or to position
the mechanism itself. In other words, to represent the orientation and position
mathematically we must identify or define a universe coordinate system.
The approach assumed that there is a universe coordinate where everything we discuss
can be referenced. The task of the robot in terms of position and orientation will be
either attached to the universe frame or to a reference (Cartesian coordinate frame).
A group of references coordinate can be described with respect to the universe system.

2.2 DESCRIPTIONS: POSITIONS, ORIENTATIONS, AND

FRAMES
A description is used to specify attributes of various objects with which a manipulation
system deals. These objects are parts, tools, and the manipulator itself. In this section,
we discuss the description of positions, of orientations, and of an entity that contains
both of these descriptions: the frame.

2.2.1 Description of a position

Representing any point in the space can be formed in one of the following:
1- Cartesian coordinate (X, Y and Z)…. We will focus on that
2- Cylindrical coordinate ( r, 𝜃, z )

Fig 2.1: Cartesian coordinate

This kind of coordinate represents a point by radius and angle 𝜃 with respect to the
Cartesian coordinate. Cylindrical coordinates are a generalization of two-
dimensional polar coordinates to three dimensions by superposing a height (z) axis
Robotics-I Lecture 2: Spatial Description

3- Spherical coordinate: regarding this coordinate system we can represent any

point in the space by two angles 𝜽 𝒂𝒏𝒅 𝝋 in addition to the radius from origin
(r).

Fig 2.2: Spherical coordinate

Returning back to the Cartesian coordinate we will represent the description of the
point as a 3 x 1 position vector as shown below

𝑍𝐴

𝐴
𝐴𝑃
𝑃𝑥
𝐴𝑃 = [𝑃𝑦 ]
𝑃𝑧
𝑌𝐴

𝑋𝐴

Fig 2.3: Vector relative to frame 𝐴

𝐴

Note: Where 𝑋𝐴^ , 𝑌𝐴^ 𝑎𝑛𝑑 𝑍𝐴^ 𝑎𝑟𝑒 𝑢𝑛𝑖𝑡 𝑣𝑒𝑐𝑡𝑜𝑟𝑠

2.2.2 Description of orientation

It is necessary not to find the location of a point in the space but also we should find
the orientation of the body. For example the hand of the robot can be oriented in any
direction while keeping the position inside the fingertips constant. The figure below
shows that the position is located with respect to the frame {A} while the rotation of
the body can be represented to another coordinate frame {B}.
Robotics-I Lecture 2: Spatial Description

Fig 2.4: attach the orientation to frame 𝐵

Now we need to describe the coordinate frame {B} relative to the frame {A} the unit
vectors should be written as follow: 𝐴𝑋̂𝐵 , 𝐴𝑌̂𝐵 𝑎𝑛𝑑 𝐴𝑍𝐵 𝑎𝑟𝑒 𝑢𝑛𝑖𝑡 𝑣𝑒𝑐𝑡𝑜𝑟𝑠. Thus, if we
stack these three unit vectors in one 3 x 3 matrix in the order 𝐴𝑋̂𝐵 , 𝐴𝑌̂𝐵 , 𝐴𝑍𝐵 , then we
will call this matrix as Rotation matrix that gives us the orientation of the manipulator.
𝑟11 𝑟12 𝑟13
𝐴
𝐵𝑅 = [ 𝐴𝑋̂𝐵 𝐴̂
𝑌𝐵 𝑍𝐵 = [ 21 𝑟22 𝑟23 ]--------------------- rotation matrix of frame
] 𝐴 𝑟
𝑟31 𝑟32 𝑟33
{B} relative to frame {A}. The scalar values of the rotation matrix 𝑟𝑖𝑗 can be expressed
by project any vector to its unit components in its reference frame which is realized by
performing dot product.

𝑋̂𝐵 . 𝑋̂𝐴 𝑌̂𝐵 . 𝑋̂𝐴 𝑍𝐵 . 𝑋̂𝐴

𝐴
𝐵𝑅 = [𝐴 𝑋̂𝐵 𝐴̂
𝑌𝐵 𝐴
𝑍𝐵 ] = [ 𝑋̂𝐵 . 𝑌̂𝐴 𝑌̂𝐵 . 𝑌̂𝐴 𝑍𝐵 . 𝑌̂𝐴 ] − − − (2.1)
𝑋̂𝐵 . 𝑍𝐴 𝑌̂𝐵 . 𝑍𝐴 𝑍𝐵 . 𝑍𝐴 3×3

Further inspection of (2.1) shows that the rows of the matrix are the unit vectors of {A}
expressed in {B}; that is,
𝑇
𝐵
𝑋̂ 𝐴
𝐴 𝐵 ̂𝑇
𝐵𝑅 = [ 𝐴𝑋̂𝐵 𝐴̂
𝑌𝐵 𝐴
𝑍𝐵 ] = 𝑌𝐴 − − − − − (2.2)
𝐵 𝑇
[ 𝑍 𝐴]
3×1

𝐴 𝑇
From (2.2) we can notice that 𝐵𝑅 = 𝐵𝐴𝑅 ----------------------- (2.3)
Robotics-I Lecture 2: Spatial Description

When multiply any matrix with its transpose

𝑇
𝐵
𝑋̂ 𝐴
𝐴 𝑇𝐴 𝐵 ̂𝑇 [ 𝐴𝑋̂𝐵 𝐴̂ 𝐴
𝐵𝑅 𝐵𝑅 = 𝑌𝐴 𝑌𝐵 𝑍𝐵 ] = 𝐼3 ------------- (2.4)
𝐵 𝑇
[ 𝑍 𝐴]
3×1

From (2.4) we can conclude that when we want to inverse representation from one
frame to another we just take the transpose of the rotation matrix. Additionally, since
the rotation matrix is orthogonal that leads to equate the transpose with the inverse
matrices:
𝐴
𝐵𝑅 = 𝐵𝐴𝑅 −1 = 𝐵 𝑇
𝐴𝑅

2.2.3 Description of frame

To represent any frame, we can choose arbitrary point in the frame to be attached to the
universe coordinate system. However, for convenient the origin of the frame that we
want to describe should be attached as the head of the position vector, the three unit
vectors represent the orientation of that frame. The advantage of a frame can be used to
describe one coordinate system relative to another. For example below, three frames
with graphical representation with respect to the universe frame:

Fig 2.5: Frames {A}, {B} and{C} relative to {U}

2.3 MAPPINGS: CHANGING DESCRIPTIONS FROM FRAME

TO FRAME
In many robotics problems we need to express the description of the position and
orientation from one frame to other which is called mapping.
Robotics-I Lecture 2: Spatial Description

2.3.1 Translation Mapping

Spatial Descriptions
( Transformations)
Lecture 3
Review on rotation Matrix

Rotation matrix represents {𝐵} 𝑍𝐵 𝒁𝑨 {𝐴}

𝑋𝐵
the component of each axis
of a coordinate system
with respect to a reference
frame. 𝑌𝐵 𝒀𝑨

𝑿𝑨
−1 −1 0 𝐵𝑋 𝑇
𝐴
𝐴
𝐵𝑅= 0 0 0 𝐵𝑌 𝑇
𝐴
𝐵𝑍 𝑇
0 0 1 𝐴

𝐴𝑋 𝐴𝑌 𝐴𝑍
𝐵 𝐵 𝐵
General Transform
General Transform
between Frames means
that we include
(Rotation+ Translation) 𝒁 𝑨 {𝐴} 𝐴𝑃
to map or describe a
point from one frame to
another
𝒀𝑨

𝑿𝑨

𝐴𝑃= 𝐴𝑅 𝐵𝑃+ 𝐴𝑃 ( general Form for mapping )

𝐵 𝐵𝑂𝑅𝐺
Homogeneous Transform
We would like to think of a
mapping from one frame to
another as an
operator in matrix form.
This aids in writing compact 𝒁 𝑨 {𝐴} 𝐴𝑃

equations and is conceptually

clearer than general Form

𝒀𝑨

𝑿𝑨

𝐴𝑃 𝐴 𝐴𝑃 𝐵𝑃
= 𝐵𝑅 𝐵𝑂𝑅𝐺 4X4 Matrix ( Homogeneous Transform )
1 000 1 1
Homogeneous Transform
1. a "1" is added as the last element of the 4 x 1 vectors;
2. a row "[0001]" is added as the last row of the 4 x 4 matrix.
3. Normally we will write the Homogenous Transform as follow:
𝐴 𝐴 𝐵
𝑃= 𝐵𝑇 𝑃
𝐴 𝐴𝑃
𝐴
Where 𝐵 𝑇= 𝐵𝑅 𝐵𝑂𝑅𝐺
000 1
rotation matrices used to specify an orientation, we will use transforms (usually in
homogeneous representation) to specify a frame. Observe that, although we have
introduced homogeneous transforms in the context of mappings, they also serve as
𝐴
descriptions of frames. The description of frame {B}relative to (A} is 𝐵 𝑇
Example
The Figure shows a frame {B}, which is
rotated relative to frame (A} about 𝑍 by
30° degrees, translated 10 units in 𝑿 𝑨 ,
and translated 5 units in 𝒀 𝑨 Find 𝐴𝑃
where 𝐵𝑃 = 3.0 7.0 0.0 𝑇 .

0.866−0.5 0 10
𝐴
𝐵𝑇= 0.5 0.866 0 5
0 0 1 0
3
Given 𝐵𝑃 = 7
0

9.09
𝐴
𝑃= 𝐵𝐴𝑇 𝐵𝑃 = 12.56
0.0
Operators
• Mapping: changing descriptions from frame to frame
• Operators: moving points (within the same frame)
{𝐵} 𝑍𝐵 𝒁𝑨 {𝐴}

𝑀𝑎𝑝𝑝𝑖𝑛𝑔 𝐴𝑃= 𝐵𝐴𝑅 𝐵𝑃

𝑋𝐵 𝑹

𝒀𝑨

𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑂𝑝𝑒𝑟𝑎𝑡𝑜𝑟
𝑌𝐵
𝑿𝑨 𝑃2 =𝑅𝑃1
Rotational Operators
𝑅𝑘 (θ): 𝑃1 𝑃2
𝑃2 = 𝑅𝑘 (θ) 𝑃1 where k: ( X, Y, Z) .
1 0 0
𝑅𝑋 (θ)= 0 cos 𝜃 − sin 𝜃
0 sin 𝜃 cos 𝜃
𝑃2 = 𝑅𝑋 (30) 𝑃1
1 0 0 0 0
= 0 cos 𝜃 − sin 𝜃 2 = 1
0 sin 𝜃 cos 𝜃 1 2
Translations
Mapping approach :
𝑃𝑂𝐵 𝑃𝑂𝐴 {𝐵} 𝑍𝐵 𝑃2

𝑃𝑂𝐴 =𝑃𝑂𝐵 + 𝑃𝐵𝑂𝑅𝐺

𝑃𝑂𝐵
𝑍𝐴 {𝐴}
In this method two vectors
𝑌𝐵
For the same point 𝑃2
𝑋𝐵
𝒀𝑨

𝑿𝑨
Translations Operator
Mapping approach :
𝑃1 𝑃2 {𝐵} 𝑍𝐵 𝑃2

𝑃2 =𝑃1 + 𝑄
𝑍𝐴 {𝐴} 𝑃1
In this method
𝑌𝐵

Two different vectors (2 point) 𝑋𝐵

𝒀𝑨

𝑿𝑨
Translations Operator
Operator approach :
𝑃1 𝑃2 {𝐵} 𝑃2

𝑃2 =𝑃1 + 𝑄
𝑍𝐴 {𝐴} 𝑃1
In this method

Two different vectors (2 point)

𝒀𝑨

𝑿𝑨
Translations Operator
operator approach :
𝑃1 𝑃2 {𝐵}

operator 𝐴𝑃2 = 𝐴𝑃2 + 𝐴𝑄

𝑍𝐴 {𝐴} 𝑃1
In this method
Two different vectors (2 point)
Homogeneous Transform:
1 0 0 𝑞𝑋 𝒀𝑨
0 1 0 𝑞𝑌
𝐷𝑄 =
0 0 1 𝑞𝑍
0 0 0 1
𝐴𝑃 = 𝐴 𝐷 𝐴𝑃 𝑿𝑨
2 𝑄 2
General Operators
To represent the operator transformation in a general homogeneous form

𝑅𝑘 (θ) 𝑄
𝑃2 = × 𝑃1
0 0 0 1
𝑃2 =T× 𝑃1

only one coordinate system is involved, and so the symbol T is used without
sub- or superscripts.
Example on Rotational Operator
The Figure shows a vector 𝐴𝑃1 . We wish to compute the
𝑃1
vector obtained by rotating this vector about Z by 45°. Call
the new vector 𝐴𝑃2 .The rotation matrix that rotates vectors
𝑃2
by 45° about Z is the same as the rotation matrix that
describes a frame rotated 45° about Z relative to the
reference frame. Thus, the correct rotational operator is 𝒀𝑨 {𝐴}
cos 45 −sin 45 0 0.707 −0.707 0
𝑅𝑧 (45.0)= sin 45 cos 45 0 = 0.707 0.707 0
0 0 1 0 0 1
0.0 𝑿𝑨
Given 𝐴𝑃1= 2.0
0.0
𝐴𝑃 =𝑅
2 𝑧 (45.0) 𝐴𝑃1

−1.414
𝐴
𝑃2 = 1.414
0.0
Example on Transformation Operator
The figure shows a vector 𝐴𝑃1 . We wish to rotate
it about Z by 60 and translate it 10 units in 𝑋 𝐴
and 5 units in 𝑌 𝐴 Find 𝐴𝑃2 where 𝐴𝑃1 = 3 7 0 𝑇 𝐴
𝑃2
The operator T, which performs the translation
and rotation, is :
0.5 −0.866 0 10 𝑅 𝐴𝑃1
𝐴𝑃
0.866 0.5 0 5 1
𝑇=
0 0 1 0 𝑌𝐴 {𝐴}
0 0 0 1
𝐴𝑃 =𝑅 𝐴𝑃 + 𝐴𝑄= 𝑇 𝐴𝑃
2 1 1

0.5 −0.866 0 10 3
5.438 𝑋𝐴
𝐴𝑃 = 0.866 0.5 0 5 7
2 = 11.09
0 0 1 0 0
0
0 0 0 1 1
Inverse Transform
𝐴 𝐴𝑃
𝐴 𝐵𝑅 𝐵𝑂𝑅𝐺
𝐵𝑇=
0 0 0 1
Rotation Matrix is orthonormal
𝐴 −1
𝐵𝑅 = 𝐵𝐴𝑅 = 𝐵𝐴𝑅𝑇 𝒁𝑨
{𝐴}

However, 𝐵𝐴𝑇 −1 ≠ 𝐵𝐴𝑇 𝑇 , Thus

𝐵𝑃
𝐴𝑂𝑅𝐺

𝐴 −1 𝐵
𝐴𝑅 𝑇 − 𝐵𝐴𝑅𝑇 𝐴𝑃 𝐵𝑂𝑅𝐺 𝒀𝑨
𝐵
𝐵 𝑇 = 𝐴𝑇 =
0 0 0 1

𝑿𝑨
Homogenous Transformation summary
Transform Equation
Compound Transformations
𝐵
𝑃= 𝐵𝐶𝑇 𝐶𝑃

𝐴
𝑃= 𝐵𝐴𝑇 𝐵𝑃

𝐴
𝑃= 𝐵𝐴𝑇 𝐵𝐶 𝑇 𝐶𝑃

𝐴 𝐴 𝐵
𝐶 𝑇= 𝐵𝑇 𝐶 𝑇
Homogenous form of Compound transformation

𝐴 𝐴 𝐵
𝐶 𝑇= 𝐵𝑇 𝐶 𝑇

𝐴 𝐵 𝐴
𝐴 𝐵 𝐵𝑅 𝑃𝐶𝑂𝑅𝐺 + 𝑃𝐵𝑂𝑅𝐺
𝐴 𝐵𝑅 𝐶 𝑅
𝐶 𝑇=
0 0 0 1
Transform Equation

𝐵 𝐶 𝐶 𝐴
𝐴𝑇= 𝐵𝑇 𝐷𝑇 𝐴𝑇
 05/11/2017

Problems on Spatial
Description
Lecture 5

05/11/2017 1

Q1) A vector 𝑃 is rotated about 𝑍 by θ degrees and is subsequently rotated

about 𝑋 by 𝜑 degrees. Give the rotation matrix that accomplishes these rotations
in the given order.

Sol: R= rot(𝑋 , 𝜑) rot(𝑍 , 𝜃) 𝑍 𝑃

𝜃
1 0 0 cos 𝜃 − sin 𝜃 0
= 0 cos 𝜑 − sin 𝜑 sin 𝜃 cos 𝜃 0
0 sin 𝜑 cos 𝜑 0 0 1 𝑋
𝜑
𝑌
cos 𝜃 − sin 𝜃 0
= cos 𝜑 sin 𝜃 cos 𝜑 cos 𝜃 − sin 𝜑
sin 𝜑 sin 𝜃 sin 𝜑 cos 𝜃 cos 𝜑

05/11/2017 2
 05/11/2017

Q2) A frame {B} is located initially coincident with a frame {A}. We rotate {B}
about 𝑍 by 53 degrees, and then we rotate the resulting frame about 𝑋 by 45
degrees. Give the rotation matrix that will change the description of vectors from
𝑃to 𝑃.
Sol: since the rotations are about the frame being rotated , then Euler angles will be applied.
R= rot(𝑍 , 53° ) rot(𝑋 ,45° )

cos 53 − sin 53 0 1 0 0
= sin 53 cos 53 0 0 cos 45 − sin 45
0 0 1 0 sin 45 cos 45

0.601 −0.7986 0 1 0 0
= 0.798 0.601 0 0 0.707 −0.707
0 0 1 0 0.707 0.707

0.601 −0.564 0.564

= 0.798 0.424 −0.424
0 0.707 0.707
05/11/2017 3

Q3) Describe (or program) an algorithm that extracts the equivalent angle and
axis of a rotation matrix. Equation (2.82) in book is a good start, but make sure that your
algorithm handles the special cases 𝜃 = 0° and 𝜃= 180°.

𝑘 𝑘 𝑣𝜃 + 𝑐𝜃 𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃
𝑅 (𝜃)= 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑐𝜃 𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃
𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑐𝜃

𝑟 𝑟 𝑟
R= 𝑟 𝑟 𝑟
𝑟 𝑟 𝑟
(1) Compute 𝑟 +𝑟 +𝑟 =N
(2) If N=3 , then 𝜃 = cos = 0 , that means rotation is Zero , 𝐾 is arbitrary
(3) If N=-1 , then 𝜃 = cos −1 =180 °

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2𝑘 − 1 2𝑘 𝑘 2𝑘 𝑘
Rot (𝐾, 180° )= 2𝑘 𝑘 2𝑘 − 1 2𝑘 𝑘
2𝑘 𝑘 2𝑘 𝑘 2𝑘 − 1

2𝑘 − 1 = 𝑟 𝑘 =±

2𝑘 𝑘 = 𝑟 𝑘 =
2𝑘 𝑘 =𝑟 𝑘 =
However, if 𝑘 ≅ 0, this is singularity
So use a different column for solution (not the first column)
If ( -1 < N< 3) so that (0 < 𝜃 < 180 ° )

05/11/2017 5

Q4) A velocity vector is given by : compute V

10.0
V = 20.0
30.0

• Free vector is affected by rotation only , not affected by translation

0.866 −0.5 0 10.0 −1.34

V= 𝑅 V= 0.5 0.886 0 × 20.0 = 22.32
0 0 1 30.0 30.0

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Q5) The following frame definitions are given as known:

0.866 −0.5 0.0 11.0 1.00 −0.5 0.0 0
0.5 0.866 0.0 −1 0.0 0.866 −0.5 10
𝑇= 𝑇=
0.0 0.0 1.0 8.0 0.0 0.5 0.866 −20
0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0

0.866 −0.500 0.000 −3

0.433 0.750 −0.500 −3
𝑇=
0.250 0.433 0.866 3
0.00 0.00 0.000 1.0
• Draw a frame diagram to show their arrangement qualitatively, and solve for 𝑇
𝑇= 𝑇 𝑇 𝑇
by just following the arrows and inverting
when needed , for rapid calculation for inverse matrices:

https://ncalculators.com/matrix/4x4-inverse-matrix-calculator.htm
05/11/2017 7

Q6) A frame {B} is described as initially coincident with {A). We then rotate {B} about
the vector 𝐾 = [0.707 0.707 0] (passing through the point 𝑃 = [1.0 2.0 3.0])
by an amount 𝜃 = 30 degrees. Give the frame description of {B}.

1) Before the rotation, (A} and {B} are coincident. As is shown:

2) we define two new frames, {A'} and {B'},
which are coincident with each other and have
the same orientation as {A} and {B}.
3) They are translated relative to {A}
by an offset that places their origins on
the axis of rotation

1 0 0 1 1 0 0 −1
0 1 0 2 0 1 0 −2
𝑇= , 𝑇=
0 0 1 3 0 0 1 −3
0 0 0 1 0 0 0 1

05/11/2017 8
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we can rotate {B'} relative to {A'}. This is a rotation about an axis that passes through the
origin, so we can use :
𝑘 𝑘 𝑣𝜃 + 𝑐𝜃 𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃
𝑅 (𝜃)= 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑐𝜃 𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃
𝑘 𝑘 𝑣𝜃 − 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑘 𝑠𝜃 𝑘 𝑘 𝑣𝜃 + 𝑐𝜃

Substitute the components of K with the angle θ= 30 . yields the rotation-matrix part
of the frame description. There was no translation of the origin, so the position vector is
[0, 0, 0] Thus, we have:
0.933 0.067 0.354 0
0.067 0.933 −0.354 0
𝑇=
−0.354 0.354 0.866 0
0 0 0 1
Finally, we can write a transform equation to compute the desired frame,
0.933 0.067 0.354 −1.13
0.067 0.933 −0.354 1.13
𝑇= 𝑇 𝑇 𝑇 =
−0.354 0.354 0.866 0.05
0 0 0 1
05/11/2017 9

Q7) Another familiar set of three coordinates that can be used to describe a point
in space is cylindrical coordinates. The three coordinates are defined as illustrated
in the Fig The coordinate 𝜃 gives a direction in the xy plane along which to
translate radially by an amount r. Finally, z is given to specify the height above
the xy plane. Compute the Cartesian coordinates of the point 𝑃 in terms of the
cylindrical coordinates 𝜃, r, and z.

Solu:

𝑃 𝑟 cos 𝜃
𝑃= 𝑃 = 𝑟 sin 𝜃
𝑃 𝑍

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Q8) Another set of three coordinates that can be used to describe a point in
space is spherical coordinates. The three coordinates are defined as illustrated
in Fig. below . The angles 𝛼 𝑎𝑛𝑑 𝛽 and can be thought of as describing azimuth and
elevation of a ray projecting into space. The third coordinate, r, is the radial
distance along that ray to the point being described. Calculate the Cartesian
coordinates of the point 𝑃 in terms of the spherical coordinates 𝛼 , 𝛽𝑎𝑛𝑑 r

Solution:
𝑃 𝑟 cos 𝛽 cos 𝛼
𝑃 = 𝑃 = 𝑟 cos 𝛽 sin 𝛼
𝑃 𝑟 sin 𝛽

05/11/2017 11

Q9) Referring to Fig. Below , give the value of 𝑇 , 𝑇, 𝑇, 𝑇 and 𝑇

−1 0 0 3
0 −1 0 0
1) 𝑇=
0 0 1 0
0 0 0 1

0 −0.5 0.866 3
0 0.866 0.5 0
2) 𝑇=
−1 0 0 2
0 0 0 1

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 05/11/2017

0 0.5 −0.866 0
0 −0.866 −0.5 0
𝑇=
−1 0 0 2
0 0 0 1

0 0 −1 2
−0.5 0.866 0 3 ∗ 0.5
𝑇=
0.866 −0.5 0 −3 ∗ 0.866
0 0 0 1

05/11/2017 13

Q10) Referring to Fig. Below , give the value of 𝑇 , 𝑇, 𝑇, 𝑇

−1 0 0 0
0 0 −1 4
𝑇=
0 −1 0 2
0 0 0 1

0.866 0.5 0 −3
0.5 −0.866 0 4
𝑇=
0 0 −1 2
0 0 0 1

−0.866 −0.5 0 3
0 0 1 0
𝑇=
−0.5 0.866 0 0
0 0 0 1

05/11/2017 14
 05/11/2017

0.866 0.5 0 −3 ∗ 0.86 + 2

0.5 −0.866 0 −4 ∗ 0.86 − 1.5
𝑇=
0 0 −1 2
0 0 0 1

05/11/2017 15
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Robotics
Lecture 6

13/11/2017 1

Robotic Arm (Manipulator) Kinematics

Introduction

Link Description

Denavit-Hartenberg Notation (D-H convention)

Frame Attachment

Forward Kinematics

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1
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Introduction
• Forward Kinematics: determine where the end-effector or the robot hand is located ( All the
Joint Variables are known)
You now already : length of each link , angle of each Joint.
You are going to compute : position of any point in 3D- space .

Forward Kinematics End-effector

Joint
position
Variable
Inverse Kinematics (x,y,z)

• Inverse Kinematics: the inverse process of forward kinematics in which calculate what each
joint variable is (If we desire that the hand be located at a particular point)
you are given: length of each link, position of some point on the robot
you find: The angles of each joint needed to obtain that position

13/11/2017 3

Link Description
Most manipulators have revolute joints or have sliding joints called
prismatic or linear joints.
We will consider the Joint is one degree of freedom.
Base frame has link numbered ‘’0’’.
The first moving body is link 1.
Link n denoted to the free end arm.
Joint axes are defined by lines in space.

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2
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Link Description
• link i rotates relative to link i -1.

• Two parameter or two numbers

can give the position and
orientation of the two joint axes
relative each other:
1- 𝑎 refers to the link length or
mutual perpendicular from axis 𝑖 − 1
to axis 𝑖. It is unique except for
parallel axis.
2- 𝛼 states the twist between two
neighbouring Joints which is called
link twist . measured in the right-
hand sense about 𝑎

13/11/2017 5

LINK-CONNECTION DESCRIPTION
For the investigation of
kinematics, we need only
two quantities, which will
completely specify the way
in which links are connected
together which are:
1- Link offset 𝑑 . variable if
joint i is prismatic
2- Joint angle 𝜃. variable if
joint i is revolute

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3
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First & Last Links in the Chain

𝑎 and 𝛼 depend
𝐴𝑥𝑖𝑠
on joint axes i and 𝐴𝑥𝑖𝑠
i+1.
𝑎 and 𝛼 depend
𝑎
on joint axes i and
i+1
𝑎 , 𝑎 ...
𝑎 and 𝛼 , 𝛼
... 𝛼
𝛼
For simplicity :
𝑎 =𝑎 =0
𝛼 =𝛼 =0

13/11/2017 7

First Link in the chain

𝐴𝑥𝑖𝑠 2
Axis 0 is connected
to the base, it can be 𝐴𝑥𝑖𝑠 1 ,
put it anywhere 𝐴𝑥𝑖𝑠 0
,however, for
simplicity we will
put is coincident
with Axis 1. thus :
𝑎 =0
𝛼 =0
𝛼

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4
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End-effector

13/11/2017 9

Denavit-Hartenberg Notation (D-H convention)

Kinematically can describe the
robot by four parameters:-
𝑎 ,𝛼 , ,𝑑 , ,𝜃

- Three of those parameters

are constant , ( 3 Fixed
parameters)
- One Joint Variable (𝜃 for
revolute joint while 𝑑 for
prismatic Joint).
- 𝑎 , 𝛼 gives the description
for the link 𝑖
- 𝑑 , , 𝜃 describe the
connection between links.

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5
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Summary of the frame attachment

1. Pick the mutual Normal 3. Z-axis

2. Origin 4. X-axis
13/11/2017 11

Intersecting Joint Axes

Axis 𝑖 + 1
Axis 𝑖 + 1
Axis 𝑖 Axis 𝑖

𝑍 𝑍
𝑍 𝑍
X𝑖

X𝑖

𝛼 −𝛼
𝑇ℎ𝑒 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒 𝛼 𝑖𝑠 𝑠𝑙𝑒𝑐𝑡𝑒𝑑 𝑏𝑎𝑠𝑒𝑑 𝑜𝑛 𝑋
− 𝑎𝑥𝑖𝑠 𝑐ℎ𝑜𝑖𝑐𝑒
13/11/2017 12

6
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First Link
𝒂𝟎 = 𝟎
𝜶𝟎 = 𝟎
Revolute Joint 𝒅𝟏 = 𝟎

𝜽𝟏 = 𝟎 → {0}≡ {1}

𝒂𝟎 = 𝟎
𝜶𝟎 = 𝟎
Prismatic Joint 𝜽𝟏 = 𝟎

𝒅𝟏 = 𝟎 → {0}≡ {1}
13/11/2017 13

Last Link

Revolute Joint
𝐝𝐧 = 𝟎
𝜃 =0→𝑋 =𝑋

Prismatic Joint
𝛉𝐧 = 𝟎
𝑑 =0→𝑋 =𝑋

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7
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Summary of DH

a : distance (z , z ) along x
i i i+1 i θ : angle (x , x ) about z
i i-1 i i

α : angle (z , z ) about x
i i i+1 i

d : distance (xi-1 , xi ) along zi

i

13/11/2017 15

Planner Robot RRR

𝜃
i 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊

L2 1 0 0 0 𝜽𝟏
𝜃
2 0 𝐿 0 𝜽𝟐

3 0 𝐿 0 𝜽𝟑

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8
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13/11/2017 18

9
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13/11/2017 19

10
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Robotics
Kinematics
LECTURE 7
NINEVEH UNIVERSITY – SYSTEMS & CONTROL DEP.
PREPARED BY : YAZEN H SHAKIR

Recap from previous Lect. 2

𝑎 = 𝑡ℎ𝑒 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑟𝑜𝑚 𝑍 𝑡𝑜 𝑍 measured along 𝑋 ;

𝛼 = the angle from 𝑍 𝑡𝑜 𝑍 measured about 𝑋 ;

𝑑 = the distance from 𝑋 𝑡𝑜 𝑋 measured along 𝑍 ;

𝜃 = the angle from 𝑋 𝑡𝑜 𝑋 measured about 𝑍 ;

 19/11/2017

Ex7.1) Figure below shows a robot having three degrees of freedom and 3
one prismatic joint. This manipulator can be called an "RPR mechanism,"
in a notation that specifies the type and order of the joints. It is a
"cylindrical" robot whose first two joints are analogous to polar
coordinates when viewed from above. The last joint (joint 3) provides
"roll" for the hand.
Solution :

1- draw first the Joint axes

2- If we have two intersect axes , the intersection point

Represents the origin of the frame.

3- Revolute Joint has variable 𝜃 , d=0.

Manipulator with 3 DOF , one
4- Prismatic Joint has variable offset (d) and 𝜃=0. Joint is Prismatic

Link Assignment 4

1- frame {0} and frame {1} are shown as exactly coincident in this figure,
because the robot is drawn for the position 𝜃= 0.
2- it is sufficient that frame {0} be attached anywhere to the non-moving link 0
 19/11/2017

DH- Parameter 5
1- Note that rotational joints rotate about the Z
axis of the associated frame, but prismatic joints
slide along Z. i 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊

2- Frame 2 should be attached to the point 1 0 0 0 𝜽𝟏

where the minimum 𝑑 is zero .

3- 𝜃 is zero for this robot and that 𝑑 is a 2 90 ° 0 𝒅𝟐 𝜽𝟐

variable.
3 0 0 𝑳𝟐 𝜽𝟑
4- Axes 1 and 2 intersect, so 𝑎 is zero.

5- Angle 𝛼 must be 90 degrees in order to

rotate 𝑍 so as to align with 𝑍 , (about X1).

Forward Kinematics for Ex7.1 6

𝐶𝜃 −𝑆𝜃 0 𝛼
𝑆𝜃 𝐶𝛼 𝐶𝜃 𝐶𝛼 −𝑆𝛼 −𝑆𝛼 𝑑
𝑇=
𝑆𝜃 𝑆𝛼 𝐶𝜃 𝑆𝛼 𝐶𝛼 𝐶𝛼 𝑑
0 0 0 1

𝐶𝜃 −𝑆𝜃 0 0 1 0 0 0 𝐶𝜃 −𝑆𝜃 0 0
𝑆𝜃 𝐶𝜃 0 0 0 0 −1 −𝑑 𝑆𝜃 𝐶𝜃 0 0
𝑇= 𝑇= 𝑇=
0 0 1 0 0 1 0 0 0 0 1 𝑙
0 0 0 1 0 0 0 1 0 0 0 1
 19/11/2017

Ex7.2: Figure below shows a three-link, 3R manipulator for which joint axes 1 and 2
intersect and axes 2 and 3 are parallel. Demonstrate the non-uniqueness of frame 7
assignments and of the Denavit— Hartenberg parameters by showing several possible
correct assignments of frames (1} and {2}.

1- Two possible frame assignments and

corresponding parameters for the two possible
choices of direction of 𝑍 .

2- In general, when 𝑍 , and 𝑍 intersect, there

are two choices for 𝑋 . In this example, joint
axes 1 and 2 intersect, so there are two choices
for the direction of X1.

3- In fact, If we take the rotation Axis 𝑍

Three-link, non-planar manipulator
downwards , so two more possible assignments

Frame assignments for the Example 7.2 (𝑍 ) 8

𝑎 = 0 --------- 𝑎 = 𝑳𝟐 𝑎 = 0 --------- 𝑎 = 𝑳𝟐
𝛼 = −90 -------- 𝛼 = 0 𝛼 = 90 ---------- 𝛼 = 0
𝑑 = 0 ---------- 𝑑 = 𝑳𝟏 𝑑 = 0 ---------- 𝑑 = −𝑳𝟏
𝜃 = −90 𝜃 = 90
 19/11/2017

Frame assignments for the Example 7.2 (𝑋 ) 9

𝑎 = 0 --------- 𝑎 = 𝑳𝟐 𝑎 = 0 --------- 𝑎 = 𝑳𝟐
𝛼 = 90 -------- 𝛼 = 0 𝛼 = −90 ---------- 𝛼 = 0
𝑑 = 0 ---------- 𝑑 = 𝑳𝟏 𝑑 = 0 ---------- 𝑑 = −𝑳𝟏
𝜃 = 90 𝜃 = 90

Case Studies on Industrial Robots (PUMA 560) 10

 19/11/2017

Frame assignment for (PUMA 560) 11

Assumptions:
 1-All joint angles equal to zero.
 2- The frame {0} (not shown) is coincident with
frame [1} when 𝜃 is zero.
 The joint axes of joints 4, 5, and 6 all intersect at a
common point, and this point of intersection
coincides with the origin of frames {4}, {5}, and
{6}.

 We will consider only the kinematics from joint

space to Cartesian space. However, that gearing
arrangement in the wrist of the manipulator
couples together the motions of joints 4, 5, and 6.

Forearm frame assignment for (PUMA 560) 12

 19/11/2017

Link Parameters or DH- Parameters for PUMA 560 13

i 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊

1 0 0 0 𝜽𝟏

2 -𝟗𝟎 ° 0 0 𝜽𝟐

3 0 𝒂𝟐 𝒅𝟑 𝜽𝟑

4 -𝟗𝟎 ° 𝒂𝟑 𝒅𝟒 𝜽𝟒

5 𝟗𝟎 ° 0 0 𝜽𝟓

6 -𝟗𝟎 ° 0 0 𝜽𝟔

Forward Kinematics Transformation 14

𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 𝑎
𝑆𝜃 𝐶𝜃 0 0 0 0 1 0 𝑆𝜃 𝐶𝜃 0 0
𝑇= 𝑇= 𝑇=
0 0 1 0 −𝑆𝜃 −𝐶𝜃 0 0 0 0 1 𝑑
0 0 0 1 0 0 0 1 0 0 0 1

𝐶𝜃 −𝑆𝜃 0 𝑎 𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 0

0 0 1 𝑑 0 0 −1 0 0 0 −1 0
𝑇= 𝑇= 𝑇=
−𝑆𝜃 −𝐶𝜃 0 0 𝑆𝜃 𝐶𝜃 0 0 −𝑆𝜃 −𝐶𝜃 0 0
0 0 0 1 0 0 0 1 0 0 0 1

We now form by matrix multiplication of the individual link matrices. While

forming this product, we will derive some sub results that will be useful when
solving the inverse kinematic problem in Chapter 4.
 26/11/2017

Forward Kinematics
( Summary & Tutorials)
Robotics I: Lecture 8
By
YAZEN H SHAKIR
Nineveh University
Sys & Control Dep. 4th Class

Review on coordinate directions ( X,Y and Z)

Right-hand rule. A right-handed coordinate

frame is defined by the first three fingers of your
right hand which indicate the relative directions of
the x-, y- and z-axes respectively.

Rotation about a vector. Wrap your right hand

around the vector with your thumb (your x-finger)
in the direction of the arrow. The curl of your fingers
indicates the direction of increasing angle.
 26/11/2017

Recap : DH Assumption
Step1 : Locate and label 𝑍 to 𝑍

( Z represents the axis of revolution or translation )

Step2 : find the Base frame

Step3 : locate the origin 𝑂

( where common normal to 𝑍 , 𝑍 intersects 𝑍 )

• If 𝑍 intersects Zi-1 we will put 𝑂 at the intersection point

• If 𝑍 intersects Zi-1 are parallel locate 𝑂 in any position along 𝑍

Step 4 : Establish 𝑋 along the common normal between 𝑍 and 𝑍 or in the

direction normal to 𝑍 , 𝑍

Case 1: the Joint axes not on the same plane

𝒁𝒊 𝟏

𝑋 𝑂

𝑍
 26/11/2017

Case 2: the Joint axes are Parallel

Any where the common 𝒁𝒊

normal X-axis will be along it 𝒁𝒊 𝟏

𝑿𝒊 𝑂

Case 3: Joint axes are Intersect

𝒁𝒊 𝟏

𝑂
𝒁𝒊

𝑋
 26/11/2017

Summary of DH- Parameters

 𝑎 is a distance from 𝑍 to 𝑍 measured along

𝑋 ( constant (robot design) ( link length)
 Angle 𝛼 is angle from 𝑍 to 𝑍 measured
about 𝑋 ( constant) ( link twist)
 𝑑 is distance from 𝑋 to 𝑋 measured along
𝑍 ( variable for prismatic Joint) ( link offset)
 𝜃 is angle from xi-1 to xi measured about zi-1 (
joint angle)

1. FRAMES WITH STANDARD NAMES

As a matter of convention, it will
be helpful if we assign specific
names and locations to certain
"standard" frames associated
with a robot and its workspace.

Figure shows a typical situation in

which a robot has grasped some
sort of tool and is to position the
tool tip to a user-defined location.

All robot motions will be

described in terms of these
frames.
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1.1 FRAMES WITH STANDARD NAMES

1- The base frame, {B}
{B} is located at the base of the manipulator. It is merely another name for frame
{0}. It is affixed to a non-moving part of the robot, sometimes called link 0.
2- The station frame, {S}
It is considers as the universe frame. The station frame is always specified with
respect to the base frame.
3- The wrist frame, {W}
It is another name for frame {N}, the link frame attached to the last link of the robot.
4- The tool frame, {T}:
{T} is affixed to the end of any tool the robot happens to be holding. When the
hand is empty, {T} is usually located with its origin between the fingertips of the
robot. The tool frame is always specified with respect to the wrist frame.

1.2 FRAMES WITH STANDARD NAMES

5- The goal frame, {G}:
{G} is a description of the location to which the robot is to move the tool.
Specifically this means that, at the end of the motion, the tool frame should be
brought to coincidence with the goal frame. {G} is always specified relative to the
station frame.
WHERE IS THE TOOL?
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Example of WHERE Function

This function is used to
generalize the forward
kinematics by including the
tool frame with respect to
the an arbitrary coordinate
frame .

Q1) Extract DH parameter and compute the kinematics for the following planar
robot ?
Solution:
𝑖 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊
1 0 0 0 𝜽𝟏

2 0 𝑳𝟏 0 𝜽𝟐

3 0 𝑳𝟐 0 𝜽𝟑

𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 𝐿 𝒀𝟎
𝑆𝜃 𝐶𝜃 0 0 𝑆𝜃 𝐶𝜃 0 0
𝑇= 𝑇=
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1

𝐶𝜃 −𝑆𝜃 0 𝐿 𝐶𝜃 −𝑆𝜃 0 𝐿 𝐶 +𝐿 𝐶
𝑆𝜃 𝐶𝜃 0 0 𝑆𝜃 𝐶𝜃 0 𝐿 𝑆 +𝐿 𝑆
𝑇= 𝑇=
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
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Q2) The arm with three degrees of freedom Derive link parameters and the
kinematic equations for 𝑇 ?
Solution:
𝑖 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊
1 0 0 0 𝜽𝟏

2 90 ° 𝑳𝟏 0 𝜽𝟐
𝒁𝟎,𝟏
3 0 𝑳𝟐 0 𝜽𝟑
𝒀𝟎,𝟏
𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 𝐿
𝑆𝜃 𝐶𝜃 0 0 0 0 −1 0
𝑇= 𝑇= 𝑿𝟎,𝟏
0 0 1 0 𝑆𝜃 𝐶𝜃 0 0
0 0 0 1 0 0 0 1

𝐶𝜃 −𝑆𝜃 0 𝐿
𝑆𝜃 𝐶𝜃 0 0
𝑇= 𝑇= 𝑇= 𝑇 𝑇 𝑇
0 0 1 0
0 0 0 1

Q3) The arm with three degrees of freedom shown below has joints 1 and 2 perpendicular and joints
2 and 3 parallel As pictured, all joints are at their zero location. Note that the positive sense of the
joint angle is indicated. Assign link frames {0} through {3} for this arm—that is, sketch the arm,
showing the attachment of the frames. Then derive the transformation matrices T , T and T ?

𝑍
𝒊 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊
𝑌
1 0 0 𝐿 +𝐿 𝜽𝟏 𝑌
2 90 ° 0 0 𝜽𝟐
𝑌
3 0 𝐿 0 𝜽𝟑
𝑋
𝐿 +𝐿 𝑋
4 0 𝐿 0 0

𝑋 𝑍
𝑍 𝑌
𝑍

𝑋
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Q3 ) Solution

𝒊 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊
1 0 0 𝐿 +𝐿 𝜽𝟏 𝐶𝜃 −𝑆𝜃 0 0 𝐶𝜃 −𝑆𝜃 0 0
2 90 ° 0 0 𝜽𝟐 𝑆𝜃 𝐶𝜃 0 0 0 0 −1 0
𝑇= 𝑇=
0 0 1 𝐿 +𝐿 𝑆𝜃 𝐶𝜃 0 0
3 0 𝐿 0 𝜽𝟑
0 0 0 1 0 0 0 1
4 0 𝐿 0 0

𝐶𝜃 −𝑆𝜃 0 𝐿
𝑆𝜃 𝐶𝜃 0 0
𝑇=
0 0 1 0
0 0 0 1

Q4) The arm with three degrees of freedom shown below has joints For the two-link
manipulator shown in Fig. (a), the link-transformation matrices, 𝑇 and 𝑇 were
constructed. Their product is:
𝐶𝜃 𝐶𝜃 −𝐶𝜃 𝑆𝜃 𝑆𝜃 𝐿 𝐶𝜃
𝑆𝜃 𝐶𝜃 −𝑆𝜃 𝑆𝜃 −𝐶𝜃 𝐿 𝑆𝜃
𝑇=
𝑆𝜃 𝐶𝜃 0 0
0 0 0 1

The link-frame assignments used are indicated in Fig (b). Note that frame
{0) is coincident with frame {1} when 𝜃 . The length of the second link is 𝐿 .
Find an expression for the vector 𝑃 which locates the tip of the arm relative
to the {0} frame.
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Solution:

𝐿
𝑃 = 𝑇 𝑃 ; 𝑃 = 0
0

𝐶𝜃 𝐶𝜃 −𝐶𝜃 𝑆𝜃 𝑆𝜃 𝐿 𝐶𝜃 𝐿
𝑆𝜃 𝐶𝜃 −𝑆𝜃 𝑆𝜃 −𝐶𝜃 𝐿 𝑆𝜃 0
𝑃 =
𝑆𝜃 𝐶𝜃 0 0 0
0 0 0 1 1

𝐿 𝐶𝜃 + 𝐿 𝐶𝜃 𝐶𝜃
𝐿 𝑆𝜃 + 𝐿 𝑆𝜃 𝐶𝜃
𝑃 =
𝐿 𝑆𝜃

Q5) Assign link frames to the RPR planar robot shown in the Fig. below and give the
linkage parameters ?
𝑿𝟑
𝑿𝟐
Solution : 𝒁𝟐

𝒊 𝜶𝒊 𝟏 𝒂𝒊 𝟏 𝒅𝒊 𝜽𝒊
1 0 0 0 𝜽𝟏
2 90 ° 𝒂𝟏 𝒅𝟐 0
3 −90 ° 0 0 𝜽𝟑 𝒁 𝟑 : 𝒐𝒖𝒕 𝒐𝒇 𝒕𝒉𝒆 𝒑𝒂𝒈𝒆
𝑋

𝑌
0 = 1 𝑤ℎ𝑒𝑛 𝜽𝟏 = 0
𝒁 𝟏 : 𝒐𝒖𝒕 𝒐𝒇 𝒕𝒉𝒆 𝒑𝒂𝒈𝒆
 03/12/2017

Introduction
to Inverse
Kinematics
Lectur-9- 1

Introduction
Forward Kinematics:
Joint variables are given ( 𝜃 𝑜𝑟 𝑑) depending whether ( R or P Joints)
Calculate the location of the end-effectors location and Orientation
Inverse Kinematics:
Given end-effector position (X,Y and Z) 𝑥, 𝑦
Find Joint variables ( 𝜃 , 𝜃 𝑜𝑟 𝑑 , 𝑑 )

𝜃
𝜃 Forward Kinematics
. 𝑇
. Inverse Kinematics
𝜃

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REACHABLE And dextrous workspaces

• Reachable workspace: Set of
end frames reachable in at
least one orientation
• Always includes the edge of the
workspace
• Dextrous workspace: Set of
end frames reachable in any
orientation
• Never includes the edge of the
workspace

Existence and Uniqueness

• In linear algebra: linear equations
always have one and only one
solution (y=mx+c;y=0)
• Nonlinear equations can have
none or many (Y=ax2+bx+c;Y=0)
• Same in higher dimensions, e.g.
kinematics of robotics
• Solutions may not exist – lie
outside of workspace
• Solutions may not be unique –
more than one set of joint angles
achieves the goal

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3
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Inverse Kinematics RP Example :

Find the inverse Kinematics for the RP
Robot ?
𝑌

𝑦
tan 𝜃 = 𝑋, 𝑌
𝑥 𝑦
𝜃 = tan
𝑥 𝑋
Find L ? 𝜃
𝑋
𝐿= 𝑥 +𝑦 𝑌

The Laws of Cosines and Sines

Sin Law
A
L1 L2
sin 𝐴 sin 𝐵 sin 𝐶
= =
𝐿3 𝐿2 𝐿1 B C

L3
Cos Law

𝐿 =𝐿 +𝐿 − 2𝐿 𝐿 cos(𝐶)

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Inverse kinematics for RR

• RR robot planar robot find its Inverse 𝑥, 𝑦
Kinematics
𝜃
• Find 𝜃
Applying Cosine Law
𝑐 =𝑎 + 𝑏 − 2𝑎𝑏cos(𝑎𝑛𝑔𝑙𝑒 𝑜𝑝𝑝𝑜𝑠𝑖𝑡𝑒 (𝑐))
𝜃

𝑥 + 𝑦 =𝐿 +𝐿 − 2𝐿 𝐿 cos(180 − 𝜃 )

cos(180 − 𝜃 )= - cos(𝜃 ) 𝜃
α

𝜃 =cos
9

Inverse kinematics for RR

• Find 𝜃 𝑥, 𝑦
From geometry
𝜃
𝜃 =α − 𝜃 ---------- α=tan
Using Sine Law sin 𝐴 sin 𝐵 sin 𝐶
= =
𝑎 𝑏 𝑐
𝜃
𝑎, 𝑏 𝑎𝑛𝑑 𝑐: 𝑜𝑝𝑝𝑜𝑠𝑖𝑡𝑒 𝑚𝑒𝑚𝑏𝑒𝑟𝑠 𝑓𝑜𝑟 𝑒𝑎𝑐ℎ 𝑎𝑛𝑔𝑙𝑒

( ) ( ) 𝜃
= = ,
α

( )
𝜃 =sin
10

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Inverse kinematics for RR for this example

𝑥, 𝑦

𝜃
𝑥 +𝑦 −𝐿 −𝐿
𝜃 = cos
2𝐿 𝐿

𝜃
𝑦 𝐿 sin(𝜃 )
𝜃 = tan − sin
𝑥 𝑥 +𝑦
𝜃
α

11

Three Link Cartesian Robot (3P)

𝒅𝟐
Given the coordinate of the
end –effector ( x, y and z )
𝒅𝟏
Required : find the Joint
variables d1,d2,d3 as a
𝒅𝟑
function of (x , y and z)
(𝒙, 𝒚, 𝒛)
 To simplify the problem 𝒁𝟎 𝒀𝟎
we will Look from Side
and Top views
𝑿𝟎 𝐓𝐡𝐫𝐞𝐞 𝐋𝐢𝐧𝐤 − 𝐂𝐚𝐫𝐭𝐞𝐬𝐢𝐚𝐧 𝐫𝐨𝐛𝐨𝐭
𝐒𝐢𝐝𝐞 𝐕𝐢𝐞𝐰
12

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Inverse Kinematics for Three Link

Cartesian Robot (3P)
𝒅𝟐
𝒅𝟐=X
𝒅𝟑=L1-z
𝒁𝟎
𝒅𝟐 𝒅𝟏

𝒅𝟑
𝑳𝟏 𝒅𝟑
𝐒𝐢𝐝𝐞 𝐕𝐢𝐞𝐰
(𝒙, 𝒚, 𝒛)
z 𝒁𝟎 𝒀𝟎
𝑿𝟎
x
𝑿𝟎 𝐓𝐡𝐫𝐞𝐞 𝐋𝐢𝐧𝐤 − 𝐂𝐚𝐫𝐭𝐞𝐬𝐢𝐚𝐧 𝐫𝐨𝐛𝐨𝐭
𝐒𝐢𝐝𝐞 𝐕𝐢𝐞𝐰
13

Inverse Kinematics for Three Link

Cartesian Robot (3P)
𝒅𝟐
𝒅𝟐=X
𝒅𝟏=y
𝒀𝟎
𝒅𝟏
𝒅𝟐

𝒅𝟑
𝒅𝟏 y
(𝒙, 𝒚, 𝒛)

𝒁𝟎 𝒀𝟎
𝑿𝟎
x
𝑿𝟎 𝐓𝐡𝐫𝐞𝐞 𝐋𝐢𝐧𝐤 − 𝐂𝐚𝐫𝐭𝐞𝐬𝐢𝐚𝐧 𝐫𝐨𝐛𝐨𝐭
𝐒𝐢𝐝𝐞 𝐕𝐢𝐞𝐰
14

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Inverse Introduction and

some Tutorial
Kinematics Lecture 10

Two-link manipulator with link lengths 𝐿 and 𝐿 .

 If 𝐿 = 𝐿 reachable workspace consists

of a disc of radius 2𝐿 .
 The dextrous workspace has single
point which is the origin.
 If 𝐿 ≠ 𝐿 , there is no dextrous
workspace and the reachable
workspace is realised in two cases a
ring of outer radius 𝐿 + 𝐿 and ring
with inner radius 𝐿 − 𝐿 .
 Inside the reachable workspace there
are two possible orientations of the
end-effector while in on the boundaries
only one possible solution can be
existed.

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Multiple solutions
 In the absence of
the obstacle, the
upper dashed
configuration in
Fig. 10.3 would be
chosen.

 Weights might be
applied in the
calculation of
which solution is
"closer“. That
means the Fig10.3: One of the two possible Fig10.2: Three-link manipulator.
movement of the solutions to reach point B causes Dashed lines indicate a second
smaller Joints are a collision. solution.
easier than the
larger ones that
carry links

Multiple solutions
Number of solution depends on:
1- Number of joints as a function of Link
parameters (a ,d , alpha and theta).
2- Allowable ranges of motion of the joints.
e.g. PUMA 560 can reach certain goals with eight
different solutions. Fig 10.4 shows four possible
solution for the same XYZ coordinate. In addition
each one of these four position can be reached by
oriented the Joints 4,5 and 6 as follow:

Fig10.4: Four solutions of the

PUMA 560

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Number of solutions vs. nonzero

𝒂𝒊 Number of Solution

𝑎 =𝑎 =𝑎 =0 ≤4

𝑎 =𝑎 =0 ≤8

𝑎 =0 ≤ 16

All 𝑎 ≠ 0 ≤ 16

Ex: Give a description of the subspace of 𝑇 for the three-link

manipulator
The subspace of 𝑇 is given by:

𝐶∅ 𝑆∅ 0 𝑥
−𝑆∅ 𝐶∅ 0 𝑦
𝑇=
0 0 1 0
0 0 0 1

Link lengths and joint limits restrict the workspace

of the manipulator to be a subset of this subspace.

Workspace ⊂ subspace ⊂ space

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Algebraic solution for RRR

𝑐 −𝑠 0.0 𝑙 𝑐 + 𝑙 𝑐
𝑠 𝑐 0.0 𝑙 𝑠 + 𝑙 𝑠
𝑇= 𝑇=
0.0 0.0 1.0 0.0
0 0 0 1
The subspace can therefore be given as
𝑐∅ −𝑠∅ 0.0 𝑥
𝑠 𝑐∅ 0.0 𝑦
𝑇= ∅
0.0 0.0 1.0 0.0
0 0 0 1
𝑐∅ =𝑐 ,……. (1)
𝑠∅ =𝑠 ,….... (2)
𝑥=𝑙 𝑐 + 𝑙 𝑐 ,……..(3)
y=𝑙 𝑠 + 𝑙 𝑠 , ……...(4)

Algebraic solution

We use the trigonometric formula

𝑐 =𝑐 𝑐 − 𝑠 𝑠 ,
𝑠 =𝑐 𝑠 − 𝑠 𝑐 ,
Then
𝑥 + 𝑦 = 𝑙 + 𝑙 + 2𝑙 𝑙 𝑐 ,
𝑐 =
𝑠 = 1−𝑐
𝜃 = tan

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Algebraic solution

We attempt to find 𝜃
𝑥 = 𝑘 𝑐 − 𝑘 𝑠 ,………(5)
𝑦 = 𝑘 𝑠 − 𝑘 𝑐 ,……..(6)
From eqn. (3) and (4)
𝑘 =𝑙 + 𝑙 𝑐 ,
𝑘 =𝑙 𝑠 ,
Find the radius
𝑟=+ 𝑘 + 𝑘
𝑘
𝛾 = tan
𝑘

Algebraic solution
𝑘 = 𝑟 cos 𝛾
𝑘 = 𝑟 sin 𝛾
Eqn. (4) and (5) can be written now:
𝑥
= cos 𝛾 cos 𝜃 − sin 𝛾 sin 𝜃
𝑟
𝑦
= cos 𝛾 sin 𝜃 − sin 𝛾 cos 𝜃
𝑟
𝑥
cos(𝛾 + 𝜃 ) =
𝑟
𝑥
sin(𝛾 + 𝜃 ) =
𝑟
Using the two-argument arctangent, we get
𝜃 = 𝐴𝑡𝑎𝑛2(𝑦, 𝑥)) − 𝐴𝑡𝑎𝑛2(𝑘 , 𝑘 )

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Geometric solution for RRR

𝑥 + 𝑦 = 𝑙 + 𝑙 − 2𝑙 𝑙 cos 𝜃 + 180
cos 𝜃 + 180 = - cos 𝜃 , so we have :
cos 𝜃 =
In order to exist the solution the distance
𝑥 +𝑦 ≤ 𝑙 +𝑙
The other possible solution is dashed line
when 𝜃 = −𝜃 , then we will find 𝜃
𝛽 = 𝐴𝑡𝑎𝑛2(𝑦, 𝑥)
𝑥 +𝑦 +𝑙 −𝑙
cos 𝜑 =
2𝑙 𝑥 + 𝑦
0 ≤ 𝜑 ≤ 180°
𝜃 = 𝛽 ± 𝜑,

Algebraic Inverse Kinematics of Unimation PUMA 560

𝑟 𝑟 𝑟 𝑝
𝑟 𝑟 𝑟 𝑝
𝑇= = 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 )
𝑟 𝑟 𝑟 𝑝
0 0 0 1
puts the dependence on 𝜃 on the left-hand side

𝑇(𝜃 ) 𝑇= 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 ) 𝑇(𝜃 )

Inverting 𝑇 we write
𝐶 𝑆 0 0 𝑟 𝑟 𝑟 𝑝
−𝑆 𝐶 0 0 𝑟 𝑟 𝑟 𝑝
= 𝑇--- (a)
0 0 1 0 𝑟 𝑟 𝑟 𝑝
0 0 0 1 0 0 0 1

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Inverse Kinematics of Unimation PUMA 560

From Ch3 the forward Kinematics of Puma

From eqn (a) −𝑆 𝑝 +𝐶 𝑝 = 𝑑 ------(b)

To solve an equation of this form, we make
the trigonometric substitutions
𝑝 = 𝜌 cos ∅
𝑝 = 𝜌 sin ∅ (c)

Where 𝜌 = 𝑝 + 𝑝 , ∅ = 𝐴𝑡𝑎𝑛2(𝑝 , 𝑝 ) (d)

Inverse Kinematics of Unimation PUMA 560

Substituting eqn (c) and (d) in (b) , we obtain :
𝑑
𝐶 𝑆∅ − 𝑆 𝐶∅ =
𝜌
From the difference of angles formula we get :
• sin ∅ − 𝜃 =
Hence,
cos ∅ − 𝜃 =∓ 1−
𝑑 𝑑
∅−𝜃 = 𝐴𝑡𝑎𝑛2( ∓ 1− )
𝜌 𝜌
Finally , 𝜃 = 𝐴𝑡𝑎𝑛2(𝑝 , 𝑝 ) − 𝐴𝑡𝑎𝑛2(𝑑 , ∓ 𝑝 +𝑝 − 𝑑 ) Note that we
have found two possible solutions for 𝜃

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Inverse Kinematics of Unimation PUMA 560

• H.W )
Complete the solution for (𝜃 , 𝜃 , 𝜃 ,
𝜃 , 𝜃 ) in Ch.4 Pages (118-121) in
[John_J.Craig]_Introduction_to_Robotics_
Mechanics_(b-ok.org)

8
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Robotics I
Yazen H Shakir
Lecture 11

Transcendental Equation
• It is an equation that we can not solve it directly by substitution to be
such as algebraic equation for instance :

𝑎 cos 𝜃 + 𝑏 sin 𝜃 = 𝑐
𝜃=? , we can solve for 𝜃 by three methods :

 Solution using a Quadratic Equation

 Solution using a New Angle Gamma
 Change of Variable (tan half the angle)
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Method 1: Solution using a Quadratic Equation

We have 𝑎 cos 𝜃 + 𝑏 sin 𝜃 = 𝑐
cos 𝜃= 1 − (sin 𝜃)
𝑎 1 − (sin 𝜃) + 𝑏 sin 𝜃 = 𝑐

𝑎 1 − (sin 𝜃) = 𝑐 − 𝑏 sin 𝜃….. Square both sides

𝑎 − 𝑎 (sin 𝜃) =𝑐 + 𝑏 sin 𝜃 − 2𝑐𝑏 sin 𝜃

(𝑎 +𝑏 )(sin 𝜃) -2𝑐𝑏 sin 𝜃+(𝑐 − 𝑎 )=0 , we can equate with 2nd order

( )( ) ( )( )
sin 𝜃= 2𝑏𝑐 ∓ ) ….. 𝜃= sin (2𝑏𝑐 ∓ ) )
( (

Method 2: Solution using a New Angle Gamma

𝑎 cos 𝜃 + 𝑏 sin 𝜃 = 𝑐 , we are going to introduce a new angle 𝛾
First we will divide by 𝑎 + 𝑏 ,
𝑎 𝑏 𝑐
cos 𝜃 + sin 𝜃 = … . . (1)
𝑎 +𝑏 𝑎 +𝑏 𝑎 +𝑏
Let , sin 𝛾 = and cos 𝛾 = …. In (1) yields :

sin 𝛾 cos 𝜃+cos 𝛾 sin 𝜃 = , from the form sin(A+B)

sin 𝛾 + 𝜃 = −−−− − 𝛾 + 𝜃=sin

𝜃=sin − sin
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Method 3: Solution by Change of Variable (tan half the angle)

𝜃 cos 𝐴 + 𝐵 = cos 𝐴 cos 𝐵 − sin 𝐴 sin 𝐵
𝑢 = tan
2 Let B=A
cos 2𝐴 = (cos 𝐴) − (sin 𝐴)
( ) ( )
𝑢 = = , cos 2𝐴 = (cos 𝐴) − 1 + (cos 𝐴)
( ) ( )
cos 2𝐴 = 2 (cos 𝐴) − 1
( ) (cos 𝐴) = , let A=
𝑢 = =
𝜃 cos 𝜃 + 1
𝑢 +𝑢 cos 𝜃=1 − cos 𝜃 (cos
2
) =
2
(𝑢 +1) cos 𝜃= 1 − 𝑢
cos 𝜃=

Q1) Figure below shows a two-link planar arm with rotary joints. For
this arm, the second link is half as long as the first—that is, 𝑙 = 2𝑙 . The
joint range limits in 0 < 𝜃 < 180, −90 < 𝜃 < 180 . Sketch the
approximate reachable workspace (an area) of the tip of link 2.

Answer):
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Q2)Derive the inverse kinematics of the three-link manipulator

Solution )

Assume 𝑇 is given , so compute :

𝑇= 𝑇 𝑇 𝑇
Now 𝑇 = 𝑇 , which we write out as:

𝑅 𝑅 𝑅 𝑃
𝑅 𝑅 𝑅 𝑃
𝑇=
𝑅 𝑅 𝑅 𝑃
0 0 0 1

Continued

Solution )
Equate elements (1,3): 𝑆 = 𝑅
Equate elements (2,3) : −𝐶 = 𝑅

𝜃 = 𝑎𝑡𝑎𝑛2(𝑅 , - 𝑅 )
If both 𝑅 =0 and 𝑅 =0 the goal is
unattainable

Equate elements (1,4): 𝑃 =𝐶 (𝐶 𝐿 + 𝐿 )

Equate elements (2,4): 𝑃 = 𝑆 (𝐶 𝐿 + 𝐿 )
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Continued

If 𝐶 ≠ 0 then 𝐶 = −𝐿
Else 𝐶 = −𝐿
Equate elements (3,4): 𝑃 = 𝑆 𝐿

So, 𝜃 = 𝑎𝑡𝑎𝑛2( , 𝐶 )
Equate elements (3,1): 𝑆 = 𝑅
Equate elements (3,2): 𝐶 = 𝑅
So, 𝜃 = 𝑎𝑡𝑎𝑛2(𝑅 , 𝑅 ) − 𝜃
If both 𝑅 and 𝑅 are zero the goal is
unattainable

A second solution only a desired position is given

Assume 𝑃 , then
=𝐿 𝑋
𝑃 𝐿 𝐶 + 𝐿 𝐶 𝐶 + 𝐿 𝐶 𝐶
𝑃 = 𝑃 = 𝐿 𝑆 + 𝐿 𝑆 𝐶 + 𝐿 𝑆 𝐶
𝑃 𝐿 𝑆 + 𝐿 𝑆
First,
𝑆 = ,𝐶 =

So, 𝜃 = 𝑎𝑡𝑎𝑛2( 𝑃 , 𝑃 ) or atan2( 𝑃 , 𝑃 )

Since the sign of ‘’ 𝐿 + 𝐿 𝐶 + 𝐿 𝐶 ’’ may be + or –
Next we will define :

𝛼= −𝐿 if 𝐶 ≠ 0, or 𝛼 = −𝐿 if 𝑆 ≠ 0
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A second solution only a desired position is given

We have
𝐿 𝐶 + 𝐿 𝐶 =∝
𝐿 𝑆 + 𝐿 𝑆 = 𝑃

Square and add these two equations to get:

𝐿 𝐿 + 2𝐿 𝐿 𝐶 =∝ +𝑃
𝐶 = (∝ + 𝑃 − 𝐿 − 𝐿 )

𝑆 = ∓ 1 − 𝐶 ; 𝜽 𝟑 = 𝒂𝒕𝒂𝒏𝟐( 𝑺𝟑 , 𝑪𝟑 )

Finally ,

𝐿 𝐶 =∝ − 𝐿 𝐶 , 𝐿 𝑆 = 𝑃 − 𝐿 𝑆
, so 𝜃 = 𝑎𝑡𝑎𝑛2( 𝑃 − 𝐿 𝑆 , ∝ − 𝐿 𝐶 )- 𝜽 𝟑