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Basic Coordinates
Rotation and Translation in basic of Robot Coordinates, Homogeneous
g Transform
Euler Angles, Denavit-Hartenberg Notation
Topics
p
Basic Coordinates
Coordinate Frames & Denavit-Hartenberg
Denavit Hartenberg Notation
Forward and Inverse Kinematics of Robot Manipulators
Manipulator
p Jacobian
Review of Lagrangian Dynamics
Lagrangian Dynamics of Robot Manipulators
Newton-Euler Equations of Robot Manipuators
Forward and Inverse Dynamics
Robot Statics
Robot Trajectory Planning
Robot Control
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Basic Coordinates
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Basic Coordinate
Coordinate Frames
- Translation - Rotation
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Basic Coordinate
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Basic Coordinate
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Basic Coordinate
Rotation Matrix R
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Basic Coordinate
Rotation Matrix R
- Noting that x_A,
x A, y_A
y A and z_A
z A represent the components of p along the x, y, and z
axes of coordinate A.
- Therefore,
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Basic Coordinate
Rotation Matrix R
- Therefore,
- Similarly,
- Thus, Therefore,
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Basic Coordinate
Homogeneous Transform
- In homogeneous transforms, translation and orientations have identical
characteristics.
- Position vector [x y z]T is represented by an augmented vector [x y z 1]T .
- Translation is represented by a matrix:
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Basic Coordinate
- Rotation is represented by a matrix:
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Basic Coordinate
- If translation and rotation are combined
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Basic Coordinate
- If translation and rotation are combined
Therefore,
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Basic Coordinate
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Basic Coordinate
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Basic Coordinate
- Note
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Basic Coordinate
Equivalent Angle-Axis
- Represented by a unit vector that indicates the axis of rotation and an angle to
rotate.
- If the axis of rotation is k = [K_x K_y K_z]^T,
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Basic Coordinate
Denavit-Hartenberg Notation
- Conventions
Joint i moves link i
Frame i is fixed at (attached to) link i and located at the distal joint, which means
that frame i is located at joint i+1.
Z-axes are aligned with joint axes.
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Basic Coordinate
4 Link Parameters
- Link Length(L_n):
Length(L n): the shortest distance between two joint axes at both
ends of Link n.
- Link Twist(alpha_n): "twist" angle of two z-axes at both ends of Link n
in the direction of x_n
x n -axis
axis.
- Link Offset (d_n): distance from the origins of Frame n-1 to Frame n in
the direction of Z_n-1-axis.
- Joint
i Angle(Thetat_n):
l h angle
l ffrom x_n-1-axis
1 i to x_n -axis
i iin the
h direction
di i
of z_n-1-axis.
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Basic Coordinate
Miscellaneous Conventions
- If z-axes
z axes meet each other,
other x_n
x n – axis,
axis in general,
general is defined to be zz_n
n-
1Ⅹz_n.
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Basic Coordinate
Miscellaneous Conventions
- The origin of frame 0 is usually coincide with that of frame 1.
1
- Z-axis of frame 0 is aligned with z-axis of joint 1.
- For a prismatic joint, z-axis is aligned with the sliding direction of the
j i IIn this
joint. hi case, link
li k offset
ff d iis the
h jjoint
i variable.
i bl
- Homogeneous transform :
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Basic Coordinate
Example :
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Basic Coordinate
Example :
Note that
h T^0_1 can be
b directly
d l determined
d d
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Forward Kinematics
Inverse Kinematics
- For a given set of end-effector position
and orientation, joint displacements are
computed.
- We have to solve nonlinear equations;
however, we may not able to solve for
solutions analytically.
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Forward Kinematics
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F
Forward
d Kinematics
Ki ti
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E d Eff t P
End-Effector Position
iti End-Effector Orientation
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Geometric Method
(Using cosine rule)
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Sign: "+", if -p < theta_2 < 0, i.e., at "elbow up“ configuration "-", otherwise.
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Let
Then
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Using
g
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Therefore,
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Kinematic Decoupling
If the final 3 consecutive axes meet at a point, the process of solving inverse
kinematics is simplified.
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Kinematic Decoupling
- From the target tool position d and orientation R, wrist center
position can be computed:
where
h
- Once the wrist center is known, the first 3 joint variables, q1, q2, and q3 , can
be computed.
- The orientation matrix R^0_3 can be computed after q1, q2 , and q3 are
d t
determined.
i d
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SCARA Robot
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SCARA Robot
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SCARA Robot
- Rotation matrix R can be in the form of
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SCARA Robot
- Using a geometry formed by projecting the manipulator configuration
upon a horizontal plane, which forms a 2-link manipulator,
- and
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SCARA Robot
- Solvability : A manipulator is defined to be solvable, if all the sets of joint variables
for a given position and orientation can be determined by an algorithm. Many
manipulators have multiple solutions for a single configuration. For example,
PUMA 560 has 8 solutions.
-W
Workspace
k : The
Th volume
l off space that
h the
h end-effector
d ff off a manipulator
i l can reach.
h
Within the workspace, inverse kinematics solutions exist.
- Closed Form Solution : Inverse kinematic solutions can be grouped into closed form
solutions and numerical solutions.
solutions Closed form solutions are noniterative such as
algebraic expressions; whereas numerical solutions are iterative. Numerical
solutions are computationally more expensive and slower.
p
- Pieper's work : A g
general 6 d.o.f. manipulator
p does not have a closed form solution.
If the three consecutive axies intersect at a point, a closed form solution exists. For
most commercial manipulators, the last consecutive axes intersect at a point.
- Notes: Even if inverse kinematic solutions are found, they may not be physically
realizable due to joint angle limitations
limitations.
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HW 6
139p, 연습문제 1
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REFERENCE
기초로봇 공학
- 제 2편 : 로봇 제어의 시작
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