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robotarmsandkinematics
DenavitHartenberg
Notation
INTRODUCTION
Forward Kinematics:
to determine where the robots hand is?
(If all joint variables are known)
Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
DirectKinematics
withnomatrices
Where is my hand?
Direct Kinematics:
HERE!
DirectKinematics
Positionoftipin(x,y)coordinates
DirectKinematicsAlgorithm
Often
1)Drawsketch sufficientfor
2)Numberlinks.Base=0,Lastlink=n 2D
3)Identifyandnumberrobotjoints
4)Drawaxis Zi forjointi
5)Determinejointlengthai1 betweenZi1 andZi
6)DrawaxisXi1
7)Determinejointtwisti1 measuredaroundXi1
8)Determinethejointoffsetdi
9)Determinejointanglei aroundZi
10+11)Writelinktransformationand concatenate
KinematicProblemsfor
Manipulation
Reliablypositionthetip gofromonepositiontoanotherposition
Donthit anything,avoidobstacles
Makesmoothmotions
atreasonablespeeds and
atreasonableaccelerations
Adjusttochanging conditions
i.e.whensomethingispickeduprespondtothechangeinweight
ROBOTS AS
MECHANISMs
RobotKinematics:
ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)
A point P in space :
3 coordinates relative to a reference frame
^ ^ ^
P a x i by j c z k
A Vector P in space :
3 coordinates of its tail and of its head
__ ^ ^ ^
P a x i by j c z k
x
__ y
P
z
w
Fig. 2.4 Representation of a vector in space
Representation of a
Chapter2 Frame at the
Origin of aRobotKinematics:PositionAnalysis
Fixed-Reference Frame
nx ox a x
F n y o y a y
nz oz a z
The
same as
last slide
nx ox ax Px
n oy ay Py
F y
nz oz az Pz
0 0 0 1
nx ox ax Px
n oy ay Py
Fobject y
nz oz az Pz
0 0 0 1
nz oz az Pz
0 0 0 1
Representation of
Transformations of
rigid objects
in 3D space
RepresentationChapter2 of a Pure
Translation
RobotKinematics:PositionAnalysis
Same
value a
identity
1 0 0 dx
0 1 0 d y
T
0 0 1 dz
0 0 0 1
Fig. 2.9 Representation of an pure
translation in space
Representation Chapter2 of a Pure
Rotation about an Axis
RobotKinematics:PositionAnalysis
x,y,z n, o, a
Assumption : The frame is at the origin of the reference frame and parallel to it.
Projections
as seen from
x axis
T2
T3
x,y,z n, o, a
Orderis
important
x,y,z n, o, a
translation
Order of
Transformations
is important
Example 2.8
translation
rotation
If all robot joint variables are known, one can calculate where the robot is
at any instant.
.
Fig. 2.17 The hand frame of the robot relative to the reference frame.
Forward and Inverse Kinematics
Chapter2
Equations for Position
RobotKinematics:PositionAnalysis
1 0 0 Px
0 1 0 Py
TP Tcart
R
0 0 1 Pz
0 0 0 1
cosine
C S 0 rC
S C 0 rS
R
TP Tcyl
0 0 1 l
sine
0 0 0 1
Fig. 2.19 Cylindrical Coordinates.
Forward and Inverse Kinematics Equations for
Chapter2
Position
(c) Spherical Coordinates
RobotKinematics:PositionAnalysis
C C S S C rS C
C S C S S rS S
TP Tsph
R
S 0 C rC
0 0 0 1
Fig. 2.20 Spherical Coordinates.
Forward and Inverse Kinematics Equations for
Chapter2
Position
(d) Articulated Coordinates
RobotKinematics:PositionAnalysis
R
TH Tcart ( Px , Py , Pz ) RPY (a , o , n )
Assumption : Robot is made of a Spherical Coordinate and an Euler angle.
R
TH Tsph (r , , ) Euler ( , , )
Denavit-Hartenberg Representation
Forwardand
Inverse
Transformations
forrobotarms
INVERSE OF TRANSFORMATION MATRICES
Steps of calculation of an Inverse matrix:
1. Calculate the determinant of the matrix.
2. Transpose the matrix.
3. Replace each element of the transposed matrix by its own minor
(adjoint matrix).
4. Divide the converted matrix by the determinant.
INVERSE
MATRICES
2. It is good to reduce the number of
such operations
easy
Denavit
Hartenberg
idea
DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
Denavit-Hartenberg Representation :
Y0 Y1 Denavit-Hartenberg Link
Parameter Table
a0 a1
Apply first Apply last
i (i-1 ) a (i-1 ) di i
0 0 0 0 0
1 0 a0 0 1
2 -9 0 a1 d2 2
DenavitHartenberg Representationof
JointLinkJointTransformation
Notation forDenavitHartenberg
RepresentationofJointLinkJoint
Transformation
Alpha applied
first
FourTransformationsfromoneJointtotheNext
Orderofmultiplicationofmatricesisinverseoforderofapplyingthem
Hereweshoworderofmatrices
Joint-Link-Joint
Denavit
Hartenberg
Representation
ofJointLink
Joint
Transformation
Alpha
is
applied
first
How to
create a
single
matrix A n
EXAMPLE:DenavitHartenberg
Final
matrix RepresentationofJointLinkJoint
from TransformationforType1Link
previous
slide
substitute
substitute
Numeric or
symbolic
matrices
cos i sin i 0 a(i 1)
The Denavit- sin cos cos i cos (i 1) sin (i 1) sin (i 1) d i
(i 1)
Hartenberg Matrix for
i
Z(i -
1) Y(i -1) Y Zi
i X a
a(i - 1 d
Put the transformation here X(i -1)
)
i i
i
Joint n+1
xn
Link n
ln=0
dn=0
Joint n
xn-1
n-1
Type4
Joint n+1
Link
Link n
ln=0
Part of dn=0
dn-1
Joint n
n
xn
xn-1 yn-1 Originscoincide
Linksbetween
prismatic
joints
Forward andInverse
Transformationson
Matrices
DENAVIT-HARTENBERG
REPRESENTATION
PROCEDURES
Start point:
Assign joint number n to the first shown joint.
Assign a local reference frame for each and every
joint before or
after these joints.
Y-axis is not used in D-H representation.
DENAVIT-HARTENBERG REPRESENTATION
Procedures for assigning a local reference frame to each joint: