INSTITUTE OF EGINEERING & TECHNOLOGY, KHANDARI,

AGRA

Robotics
Unit-2 Robotic Kinematics
Dr. Greesh Kumar Singh
Assistant Professor
ECE Department
Institute of Engineering and Technology,
Dr. Bhimrao Ambedkar University,
Khandari Campus, Agra
Simple Geometrical Transformation
(2D/3D)
Simple Geometrical Transformation…
Simple Geometrical Transformation…

Sy = Ynew/Yold

Y old Y new

X old X new
Simple Geometrical Transformation…
Simple Geometrical Transformation…
Simple Geometrical Transformation…
Simple Geometrical Transformation…
Problems
Problems…
Problems…
Coordinate Transformation Matrix
 Translation & Rotation
2D
Rotation
3D Coordinate Transformation
3D Coordinate Transformation…
Coordinate Transformation Matrix…
HTM
HTM…
HTM…
Non-commutative Property
Problems
Problems…
Problems
Problems…
Problems…
Problems…
Denavit and Hartenberg (DH)
Parameters (1955)
DH Parameters (Simple Definition)
• Joint Angle (θ): Angle between two x-axes measured about
z-axis.
• Joint Offset (b): Distance between two x-axes measured
along z-axis.
• Twist Angle (α): Angle between two z axes measured about
x-axis
• Link Length (a): Mutual perpendicular distance between
two z-axes measured along x-axis.
DH Parameters…(DK Pratihar)
Revolute/Prismatic Joint
Problem
Transformation Between DH Frames
Transformation Between DH Frames…
Transformation Between DH Frames…
 Spherical-Type Arm
DH Parameters of the Spherical Arm
Link bi θi ai αi
1 0 Θ1 (JV) 0 90
2 b2 Θ2(JV) 0 90
3 b3(JV) 0 0 0
PUMA 560
2 Link Serial Model DH Parameters
Serial 2 Link Model
Individual Transformation
 Kinematic Chain
• A Kinematic chain is a series of links connected by
joints. When each and every link in a kinematic chain
coupled to at most two other links, the chain is
referred to as simple kinematic chain.
– Open Kinematic chain

– Closed Kinematic chain

Robotic Kinematics
Forward Kinematics
Forward Kinematics…
Forward Kinematics…
2 DOF Forward Kinematics
3 DOF Forward Kinematics
Inverse Kinematics
2 DOF Inverse Kinematics
3 DOF Inverse Kinematics
3 DOF Inverse Kinematics…
 Trajectory planning

 Trajectory planning is moving from point A to point B

while avoiding collisions over time. This can be computed
in both discrete and continuous methods. Trajectory
planning is a major area in robotics as it gives way to
autonomous vehicles.
 The trajectory planning is not the same with the robot
motion planning.
 The purpose of trajectory planning is to ensure the smooth
variation in the robotic joint. On the other hand, the purpose
of robot motion planning is to make that particular robot
intelligent.
 To make particular trajectory planning as such, so that that
the operation or the variation in a particular robotic joint
becomes smooth.
 Trajectory planning…

 The purpose of kinematics is to study the motion of the different

robotic joints without considering the reason behind that particular
motion, that is, the force or the torque.
 For a linear joint, the force has to be find out; and for the rotary
joint, the torque has to be find out.
 To ensure the smooth variation of this particular joint torque with
time; that means, the joint angle should vary in a very smooth way
with time and to ensure that, the first time derivative of this angular
displacement, that is angular velocity, and the second order
derivative, that is angular acceleration are to be continuous.
 The expression of joint torque has got a few components like the
inertia component, Coriolis and centrifugal component, gravity
terms, friction terms and, so on. In the expression, the terms like
joint angle, that is the angular displacement, angular velocity,
angular acceleration.
 Trajectory planning…
The main aim of Trajectory
Planning is to determine time
history of position, velocity
and acceleration of end-
effector of a manipulator ,
while moving from an initial
position to a final position
through some intermediate/via
points
Trajectory planning…
Trajectory planning…
 Trajectory planning
As each of the robotic joints have the dc motor and this particular angular
displacement will have to generate with the help of that particular the
motor. Movement at joint is controlled by the controlling of the motor,
Now, that is the reason, joint space scheme is chosen for trajectory
planning.
Trajectory planning
Trajectory planning
Trajectory Polynomial Function
Trajectory Polynomial Function
Trajectory Polynomial Function
Trajectory Polynomial Function
Case-2
Case-3
Case-3
Case-3
Case-3
Numerical Example
Numerical Example
Numerical Example
 Linear Trajectory Function
(Pure Linear Trajectory Function)

Note: In this Pure Linear

Trajectory Function there is
one problem i.e.; at the starting
Infinite acceleration and at the
end infinite declaration. Which
is not desirable because it
produce a jerky movement due
to mechanical vibration, and
chances to cause failure of
robotic joint.
Modified Linear Trajectory function

Modified Linear Trajectory function with parabolic blends

 Numerical Example
A linear trajectory function with parabolic blends at its
two ends is to be obtained to satisfy the following
condition given below-
Numerical Example
Numerical Example
Numerical Example
Numerical Example
Numerical Example
Numerical Example
Numerical Example
Jacobian of a manipulator
 Singularity (General Definition)
 A point at which a function takes an infinite value, especially in space–time
when matter is infinitely dense, such as at the Centre of a black hole.
 A point of infinite density and infinitesimal volume, at which space and time
become infinitely distorted according to the theory of General Relativity.
According to the big bang theory, a gravitational singularity existed at the
beginning of the universe.
 In the center of a black hole is a gravitational singularity, a one-dimensional
point which contains a huge mass in an infinitely small space, where density
and gravity become infinite and space-time curves infinitely, and where the
laws of physics as we know them cease to operate.
 A singularity is a point in space where there is a mass with infinite density.
Singularities are predicted to exist in black holes by Einstein's theory of
general relativity, which is a theory that has done remarkably well at matching
experimental results. The problem is that infinities never exist in the real world.
 The singularity was a single point where the curvature of space time are
infinite. a black hole singularity is the end of space time (and pulls matter in)
and the big bang singularity is the beginning of space time (where matter and
space were made 'real').
 Singularities in Robotics
Singularities are caused by the inverse kinematics of the
robot. When placed at a singularity, there may be an infinite
number of ways for the kinematics to achieve the same tip
position of the robot.

If the optimal solution is not chosen, assuming there is one,

the robot joints could be commanded to move in an impossible
way. Infinite velocity is not the only type of singularity that
causes problems and certain types of singularities can be more
problematic than others.

Some robots can be put in such a bad position that they need
to be turned off, moved, and restarted manually.
 Singularities Definition in Robotics

 The American National Standard for

Industrial Robots and Robot Systems defines singularities as
―a condition caused by the collinear alignment of two or
more robot axes resulting in unpredictable robot motion and
velocities‖. https://youtu.be/zlGCurgsqg8

 A robot singularity is a configuration in which the robot end-

effector becomes blocked in certain directions.

 At a singularity, a robotic arm loses one or more degrees of

freedom.
 Singularities in Robotics
 An industrial robot can be controlled in two
spaces: joint space and Cartesian space. Hence, there are
two sets of position-mode motion commands that make an
industrial robot move.

 For joint-space motion commands (sometimes incorrectly

called point-to-point commands), you simply specify —
directly or indirectly — a desired set of joint positions, and
the robot moves by translating or rotating each joint to the
desired joint position, simultaneously and in a linear
fashion.

 For Cartesian-space motion commands, you specify a

desired pose for the end-effector and a desired Cartesian
 Singularities in Robotics

 To find the necessary joint positions along the desired Cartesian

path, the robot controller must calculate the inverse position and
velocity kinematics of the robot. Singularities arise when this
calculation fails (for example, when you have division by zero) and
must therefore be avoided.

 The complexity and types of singularity in a robot arm will depend

on the number of joints, their types (linear or rotary), and their
geometric arrangement.

 Singularities significantly deteriorate the performance of an

industrial robot arm. In a singularity, a robot cannot displace its end-
effector along certain directions.
Singularities in Robotics-Gimbal lock

The robot in the configuration on the right cannot rotate its end-effector about any
axis that is normal to the axes of the three revolute joints (which become coplanar
in a singularity). This specific singularity is also known as a gimbal lock.
 Singularities in Robotics
 At a singularity, a robotic arm loses one or more degrees of freedom. A
robot singularity is a physical blockage, not some kind of abstract
mathematical problem, although we have a simple mathematical
explanation for it. Singularities of six-axis robot arms can be explained
with the following inverse velocity kinematic equation:
θ ̇ = J−1v
where
 v = [ẋ, ẏ, ż, ωx, ωy, ωz]T is the Cartesian velocity vector of the end-
effector, θ ̇ is the vector of joint velocities and J is a 6×6 matrix called
the Jacobian matrix.
 The Jacobian matrix is function of the joint positions (θ) and the robot
geometry.
 When this Jacobian matrix becomes singular (at certain joint positions),
the above equation is not defined and finding joint velocities for certain
Cartesian velocity vectors becomes impossible. In other words, the
robot becomes blocked in certain directions, and this is called that robot
is in a singularity.
 Singularities in Robotics
 The problem with singularities is not only the impossibility of
crossing them, but also the high joint velocities resulting from
passing close to them.

 Such high joint velocities may be unexpected and can pose

safety risks in the case of big, fast industrial robots.

 A robot is said to be close to singularity when the determinant

of its Jacobian matrix is close to zero, which yields the effect
of division by a very small number.
 Types of Singularities in Robotics

 Wrist singularity

 Elbow singularity

 Shoulder singularity
 Wrist singularity
 The most frequently-encountered
singularity in vertically-articulated
robot arms with inline wrists is
the wrist singularity.
 It occurs when the axes of joints 4 and
6 become coincident. i.e.,. These
happen when two of the robot’s wrist
axes (joints 4 and 6) line up with each
other. This can cause these joints to try
and spin 180 degrees instantaneously.
 In most robots, this condition
corresponds to θ5 = 0°.
 In the figure, the middle configuration
corresponds to a wrist singularity
whereas the other two correspond to
two different sets of configuration
types.
 In the left configuration, we have the
so-called no-flip condition (θ5 > 0°)
whereas, in the right configuration, we
have the flip condition (θ5 < 0°).
 Wrist singularity

 In a wrist singularity, the robot cannot move in the direction of the

axis of joint 5.

 At the singularity joints 4 and 6 must simultaneously rotate 90° in

opposite directions,. Thus, crossing a wrist singularity while
following a line is physically possible.

 But, at the singularity, the end-effector remains motionless while

joints 4 and 6 rotate. In other words, it is impossible for the end-
effector to cross the singularity without stopping. That said, due to
numerical problems, it is impossible to do this crossing while
jogging in Cartesian space, even if you do not mind that the end-
effector has to stop.
Elbow singularity
Elbow singularity
 Elbow singularity

 In the above figure, the middle configuration corresponds to

an elbow singularity whereas the other two correspond to
two different sets of configuration types. In the left
configuration, we have the so-called elbow-up condition
(θ3 > −arctan(60/19)) whereas, in the right configuration,
we have the elbow-down condition (θ3 < −arctan(60/19)).

 In an elbow singularity, two sets of inverse position

kinematic solutions degenerate into one. This singularity is
the least unexpected and is easy to avoid.
 Shoulder singularity

 The third and last type of singularity in vertically-articulated

robot arms with inline wrists is the shoulder singularity.

 It occurs when the center of the robot wrist lies in the plane
passing through the axes of joints 1 and 2 (or through the axis of
joint 1 and parallel to the axis of joint 2), ie; These happen when
the center of the robot’s wrist aligns with the axis of joint 1.

 It causes joints 1 and 4 to try and spin 180 degrees

instantaneously. A subset of this is an Alignment Singularity,
where the first and last joints of the robot (joints 1 and 6) line up
with each other.

 In the Meca500, the center of the robot wrist lies directly on the
axis of joint 1 in a shoulder singularity. This singularity is the
most complex as it does not depend on a single joint position, as
do the other two.
Shoulder singularity
 Shoulder Singularity
 In the above figure, the middle configuration corresponds to a shoulder singularity
whereas the two others correspond to two different sets of configuration types.

 In the left configuration, we have the front condition whereas, in the right
configuration, we have the back condition. a mathematical formula determines these
two conditions, but it is a bit complex.

 In a shoulder singularity, the robot cannot move in the direction of the axis of joint 2.
Consider the above figure where a robot is shown crossing a shoulder singularity,
joints 1 and 4 must simultaneously rotate 90° in opposite directions (other joints
need to rotate too), while the end-effector remains stationary.

 It is physically possible to cross a shoulder singularity while following a line but, at

the singularity, the end-effector remains motionless while some of the joints rotate.

 In other words, it is impossible to cross a shoulder singularity without having the

end-effector stop.

 In a shoulder singularity, there are infinite solutions to the inverse position

kinematics of the robot. Unfortunately, there is no simple formula to express these
solutions.
Singularity checking through Jacobian
Singularity checking through Jacobian
Singularity checking through Jacobian
Singularity checking through Jacobian
Singularity checking through Jacobian

Cartesian Velocity
Joint Velocity
Jacobian
Matrix
Singularity checking through Jacobian
Singularity checking through Jacobian
Singularity checking through Jacobian
Example- Two DOF Serial Manipulator
Singularity checking through Jacobian
Singularity checking through Jacobian
Singularity checking through Jacobian