ECE/CS 569 Crib Sheet for Test 1 Fall 2016

General 4 4 homogeneous transformation matrix:

cos i cos i sin i sin i sin i ai cos i
i1
sin i cos i cos i sin i cos i ai sin i
Ai =
0

sin i cos i di
0 0 0 1

Rules for the assignment of link coordinate frames:

1. The zi1 axis lies along the axis of motion of the ith joint.
2. The xi axis is normal to the zi1 axis, pointing away from it.
3. The yi axis completes the right-handed coordinate system as required.

Definition of D-H link/Joint Parameters.

i is the joint angle from the xi1 axis to the xi axis about the zi1 axis (using the right-
handed rule).
di is the distance from the origin of the (i 1)th coordinate frame to the intersection of
the zi1 axis with the xi axis along the zi1 axis.
ai is the offset distance from the intersection of the zi1 axis with the xi axis to the origin
of the ith frame along the xi axis (or shortest distance between the zi1 and zi axes).
i is the offset angle from the zi1 axis to the zi axis about the xi axis (using the right-hand
rule).

The circle-equation substitution method:

px = r cos and py = r sin

where  
q
1 py
r= p2x + p2y and = tan .
px
The tangent half-angle formulae:

2u 1 u2
u = tan( ), sin = , and cos = .
2 1 + u2 1 + u2

Trigonometry formulae:

sin( ) = sin cos cos sin

cos( ) = cos cos sin sin