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Chapter 3 - Kinematics

The document discusses arm kinematics and the Denavit-Hartenberg (DH) method for determining the forward kinematics of a robotic arm. The DH method involves assigning reference frames to each link of the arm, generating a table with parameters for each frame, and using the table to compute the transformation matrices and determine the position and orientation of the end effector. The goal is to use this process to build an arm robot that can pick up an item and place it in another location.

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Ephrem
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16 views21 pages

Chapter 3 - Kinematics

The document discusses arm kinematics and the Denavit-Hartenberg (DH) method for determining the forward kinematics of a robotic arm. The DH method involves assigning reference frames to each link of the arm, generating a table with parameters for each frame, and using the table to compute the transformation matrices and determine the position and orientation of the end effector. The goal is to use this process to build an arm robot that can pick up an item and place it in another location.

Uploaded by

Ephrem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Arm Kinematics

Amanuel M
SiTE - AAiT
Previously
● Expressing
○ The position of an object
○ The orientation of an object
● Frames
● Alternative ways of representing Orientation
Objective
Our end goal:- Build an arm robot that can pick up an item and places it in another
place

● Step 1 - Determine the current or starting state


● Step 2 - Determine a new joint position that will put the end-effector at a
desired place
Compounding Transformation
Frame {C} is known relative to frame {B}, and frame {B} is known relative to frame
{A}. Transforming CP into AP
Compounding Transformation
The position and orientation of the end-effector and other links of an arm
manipulator can be determined by computing the compound transformation.
Forward Kinematics
● Kinematics is a branch of physics that describes the motion of objects without
considering the forces that cause them to move.
○ Position, Velocity, Acceleration
● Forward kinematics is the process of determining the position and orientation
of the end-effector of an arm manipulator from the values of its joint variables.
Denavit Hartenberg Representation
● While the raw combined transformation computation works, it's very hard for
communication and sometimes expensive for memory.
● We need a standard way of computing labeling the frames and compute the
end-effector pose and orientation.
○ Denavit-Hartenberg Method
Denavit Hartenberg Method
● Three Steps
○ Attach frames to links according to the DH standard
○ Generate the DH Table
○ Formulate the transformation matrices and multiply them
● Main goal in DH method is - for each link, identify four numbers:
○ link length (a), link twist (𝛼), link offset (d), and joint angle (𝜽)
● Use those numbers to generate the transformation matrix
Denavit Hartenberg Method
● Assumptions
○ We are using the right-hand-rule
○ Each joint has 1 degree of freedom
■ Can be generalized
● Conventions
○ A robot manipulator with n joints will have n + 1 links, since each
joint connects two links.
Link 2
○ We number the joints from 1 to n, and we number the links from 0
to n, starting from the base.
○ By this convention, joint i connects link i−1 to link i.
Joint 2
○ We will consider the location of joint i to be fixed with respect to Link 1
link i−1.
○ When joint i is actuated, link i moves.
Joint 1

Link 0
DH Method - Step 1
● Attach a frame to each link in a way that:
○ Rules
■ The axis x1 is perpendicular to the axis z0
■ The axis x1 intersects the axis z0
■ Right hand rule
● We only care about the Z-axis, the origin location and the X-axis
DH Method - Step 1
● Sub-step 1: How do we assign the Z-axis?
○ Identify the joint axis and align the z-axis along those axis

Z-axis
DH Method - Step 1
● Sub-step 2: How do we place the Origin?
○ If Zi and Zi-1 intersect, then the origin is at the intersection of of the two axis
○ If they are parallel, then draw the normal for both and the origin location will be the intersection
of zi-1 and the normal

Z-axis
Origin
DH Method - Step 1
● Sub-step 3: How do we assign the X-axis?
○ If zi-1 and zi are parallel, their common normal is x-axis
○ If they intersect, thenx will be the normal to the zi-1 - zi plane (usually the positive)

Z-axis
Origin
X-axis
DH Method - Step 1
● Sub-step 4: How do we assign the Y-axis?
○ Follow the RHR

Z-axis
Origin
X-axis
Y-axis
DH Method - Step 1 - Example 1

What if the bottom link is a prismatic joint?


DH Method - Step 1 - Example 2
DH Method - Step 2
Generate the DH Table
DH Method - Step 2
● Generate the DH table

Z-axis
Origin
X-axis
Y-axis
DH Method - Step 3
Construct the Transformation matrix using the the table
Next
Inverse Kinematics
Assignment
● 3-link arm with gripper
● 7 DoF arm with gripper
● Forward Kinematics for both
● Inverse Kinematics for both

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