ROBOT MANIPULATOR KINEMATICS

SECTION 1
I. Discuss the importance of considering and defining the necessary work envelope when using
robots in real-world applications.

The work envelope of a robot refers to the range of motion and space within which the robot can
operate effectively. Considering and defining the necessary work envelope is crucial when using
robots in real-world applications for several reasons:
 Task Compatibility:
Different applications require specific ranges of motion. Defining the work
envelope ensures that the robot is capable of performing the required tasks within
the designated workspace.
 Space Utilization:
Efficient use of space is essential in many industrial and commercial settings.
Robots should be able to operate in confined spaces without colliding with
obstacles or other equipment.
Defining the work envelope helps in optimizing the layout of the robotic system
within a given workspace, ensuring that the available area is used effectively.
 Safety:
Safety is a paramount concern when deploying robots in real-world
environments. Defining the work envelope helps establish safety zones where
humans or other equipment should not be present during robot operation.
By understanding the range of motion and potential hazards within the work
envelope, safety measures such as barriers, sensors, or warning systems can be
implemented to prevent accidents.
 Energy Efficiency:
Knowing the work envelope aids in optimizing the energy consumption of the
robot. Unnecessary movements or excessive travel can lead to inefficiencies in
energy usage.
By defining a precise work envelope, the robot can be programmed to perform
tasks with minimal, energy-efficient movements, contributing to overall system
efficiency.
 Programming and Control:
Robot programming involves specifying the trajectory and sequence of
movements required for a task. Defining the work envelope is essential for
 accurate programming, ensuring that the robot's movements are within its
operational limits.
 Cost Optimization:
Knowing the required work envelope from the outset helps in selecting the right
type of robot for the application. Overestimating the work envelope might lead to
the selection of a more expensive and powerful robot than necessary, increasing
costs unnecessarily.
Considering and defining the necessary work envelope is essential for the successful
implementation of robots in real-world applications. It ensures task compatibility, safety,
efficiency, and adaptability, contributing to the overall effectiveness and success of robotic
systems in diverse environments.

II. Figure 01shows an industrial setup from a metalworking factory. The blue colour region
illustrates the work envelope of the robot. Define a new work envelope for the robot using
sensors to ensure the safety of the operator. a. Select the type of sensors and mounting places to
restrict the movement of the robot. b. Briefly describe how you will limit the motion of the robot
to a specific area using the sensors mentioned above.
a. Select the type of sensors and mounting places to restrict the movement of the
robot.
b. Briefly describe how you will limit the motion of the robot to a specific area
using the sensors mentioned above.

The robot's motions along the x, y, and z axes will establish the size of this work envelope, taking
into consideration the lowest and maximum positions of each axis:
  X axis: The robot's motions in the x-direction will have an x-axis work envelope that
stretches from the minimum position (-x) to the maximum position (+x). This guarantees
that the robot can function across its whole horizontal movement range.
 Y axis: The robot's vertical mobility range, from minimum position (-y) to maximum
position (+y), will also be covered by the y-axis work envelope. Because of this, the
vertical workspace may be used safely throughout.
 Z axis: The work envelope for the z-axis will include the robot's forward and backward
motions as well as its depth movements. Along the z-axis, it stretches from the minimum
position (-z) to the maximum position (+z).
a.
 Infrared Sensors: Put these on the robot's sides and front to sense warm things or people,
causing it to slow down or halt as necessary.
 Proximity Sensors: Install these on the robot's body to identify surrounding objects and
establish a barrier of protection.
 Vision System: Give the robot cameras on its head or body so it can recognise obstacles
in real time and see everything in 360 degrees.
b.
 Infrared Sensors: They alert the robot to stop or modify its movement to keep a safe
distance when they detect the presence of warm objects, such as people, in sensitive
areas.
 Proximity Sensors: In order to avoid collisions, they detect nearby objects and either stop
or slow down the robot.
 Vision System: Robots are guided to stop or alter their course by cameras that scan the
environment for people or objects that are not supposed to be there.
SECTION 2
I. The Denavit–Hartenberg (D-H) parameters are the four parameters for attaching reference
frames to the links and joints of a spatial kinematic chain, or robot manipulator.
a. Draw a suitable sketch taking two consecutive joint axes as 𝑖 and 𝑖 − 1, and state four D-
H parameters clearly (ϴ, α, r, d).

b. Figure 2 shows a SCARA type robot. Define coordinate frames, find the DH parameters,
and fill the table.
a.
𝜃 = Angle rotate about 𝑍𝑖−1 to match 𝑋𝑖−1 on 𝑋𝑖.
𝛼 = Angle rotate about 𝑋𝑖 to match 𝑋𝑖−1 on 𝑋𝑖.
𝑟 = Distance measured in between centre positions of coordinates in 𝑋𝑖 direction.
𝑑 = Distance measured in between centre positions of coordinates in 𝑍𝑖−1 direction.

Zi
Yi

r
Xi
α

d
Zi-1
Yi-1

Xi-1

Ɵ
b.
1

Z2

Y2

Z1
Y1 X3
X2

Z3
X1
Y3

Ɵ α r d

Ɵ 0 a1 d1

Ɵ Π a2 d2

0 0 0 d3
SECTION 3
I. Define “Forward Kinematics”.
Forward Kinematics is a concept in robotics, involving the calculation of a robot's end-
effector position and orientation based on its joint angles. Represented by a transformation
matrix, it defines the relationship between joint variables and Cartesian coordinates, enabling
prediction of the end-effector's pose in the robot's workspace. This crucial mathematical
model facilitates tasks like motion planning, control, and programming, allowing engineers to
anticipate and optimize robotic operations for diverse applications.

II. The robot arm shown in Figure 3 rotates about the Za axis. Find

= cos Ɵ -sin Ɵ 0 l(cos Ɵ – sin Ɵ)

Sin Ɵ cos Ɵ 0 l(cos Ɵ + sin Ɵ)
0 0 1 0
0 0 0 1
SECTION 4
I. Define “Inverse Kinematics”.
Inverse Kinematics (IK) is a computational approach in robotics that determines the required
joint angles or displacements needed to achieve a desired position and orientation of the end-
effector. Unlike forward kinematics, which calculates end-effector pose from joint values, IK
solves the reverse problem. It plays a vital role in robot control, animation, and manipulation,
finding applications in areas like robotics, computer graphics, and biomechanics. Solving the
IK problem involves complex mathematical techniques, optimization algorithms, and
numerical methods to ensure precise control over robotic systems, making it indispensable
for tasks demanding accurate and efficient positioning of robot end-effectors in real-world
scenarios.

II. Assign coordinate frames and derive inverse kinematics equations for the robot shown in
Figure 4 to move the robot to a given (X, Y, Z) coordinates using a robot controller.