KUKA LWR-IV

!  7R manipulator: spherical shoulder (3R), elbow joint (1R), spherical wrist (3R)

J7
!  the robot is shown in its zero configuration (q=0)
J6
pW !  positive directions of joint rotations are indicated

center of wrist
J5 M
lengths in [mm]
joint ranges in [deg]
J4
V

J3 L

J2

J1
frontal view side view (from observer in V)

1
 KUKA LWR-IV in motion

side view from

observer in V videos at DIAG
Robotics Lab

VREP video
2
 KUKA LWR-IV

J7
!  determine
J6 frames and table of D-H parameters
pW ! 

center of wrist !  be consistent with positive rotations

J5 M indicated by KUKA
!  only the two kinematic lengths L and M

should be needed
J4
!  homogeneous transformation matrices
!  direct kinematics of the center of wrist pW in
J3 L
symbolic form
!  numerically, in the configuration
J2 q = (0, !/2, !/2, -!/2, 0, !/2, 0) [rad]
the position 0pd in frame 0 of a tool point Pd
J1 whose coordinates in frame 7 are given by
frontal view 7p = (0, 0.05, 0.1) [m]
d

3
 Assignment of D-H frames
steps! z7
J7 y z6
5
J6
z5 zero
y6 y7 configuration!
W=O5=O6=O7
(wrist center)
J5
x5 x6 x7
z4
J4
V
x3 x4
O3=O4
y3 z 3 y4
(elbow) J3 z2 x0 x1 x2
z0
y1
J2
z1
y0 y2
S=O0=O1=O2
(shoulder center)
J1
frontal view side view (from observer in V)

4
 Table of D-H parameters

z7
J7
y5 z6
J6
i "i di ai #i
z5 1 0 0 q1=0
y6 y7 !/2
2 -!/2 0 0 q2=0
J5
3 -!/2 L 0 q3=0
z4
J4 4 !/2 0 0 q4=0

y3 z 3 y4 5 !/2 M 0 q5=0

J3
6 -!/2 0 0 q6=0
z2
z0 7 0 0 0 q7=0
y1
J2 in the shown
z1
y0 y2 configuration
with
J1
d3 = L = 0.40, d5 = M = 0.39 [m]

5
 D-H homogeneous matrices
output from Matlab (symbolic) program

6
 Direct kinematics of the wrist center

output from Matlab (symbolic) program

pW,hom = A1(q1)A2(q2)A3(q3)A4(q4)A5(q5)A6(q6)A7(q7)䏙[0 0 0 1]T

these can be replaced (by inspection) with [0 0 M 1]T

= A1(q1)A2(q2)A3(q3)A4(q4)䏙[0 0 M 1]T
the last three (spherical)
joints do not move W

faster (symbolic) recursive position transformations

(matrix ・ vector products, in homogenous coordinates)

7
 Tool position evaluation
output from Matlab (numerical) program

!  in the given configuration q = (0, !/2, !/2, -!/2, 0, !/2, 0) [rad]

for the tool point Pd of coordinates (in frame 7) 7pd = (0, 0.05, 0.1) [m]
0p = A1(q1)A2(q2)A3(q3)A4(q4)A5(q5)A6(q6)A7(q7) 7pd,hom
d,hom

etc.
again, (numerical) recursive position transformations (matrix ・ vector products)
numerical evaluation
of symbolic quantities
z7
7p
d

y7

7p in homogeneous coordinates
d