KINEMATIC

ANALYSIS OF
STANFORD ARM

Internal Guide :MR.

Hakeemuddin
By
Abdul Quadeer : 160411736064
Abdul Jawad Malik :
160411736061
 INDEX
1. Introduction 9. Stanford Arm
2. History of Robots 10. Robot Kinematics
3. Components of 11. DH Parameters
Robot 12. Matrix
4. Parts of Robot Arm Representation
5. Degree Of Freedom 13. Stanford Arm
6. Workspace Kinematics
7. Classification of 14. Degeneracy and
Robot Arm Dexterity
8. Popular Robots 15. References
 INTRODUCTION
Modern definition

A Robot is a multifunctional machine

designed to perform a variety oftasks.
An IRC or MUD it provides some useful
services.
Amachinethatresemblesahumanandd
oesmechanical,routinetasks
oncommand.
Anymachineormechanicaldevicethatop
eratesautomaticallywith human likeskill.
 History Of Robots
Robot is from robota
means forced labor.
The first electronic
autonomous robots with
complex behaviour were
created byWilliam Grey
Walterof theBurden
Neurological Instituteat
Bristol, England in 1948
and 1949.
 Components Of Robot
System
Locomotion System
Power Supply System
Actuator System
Sensor System
Signal Processing System
Control System
 Parts Of A Robot Arm
A robotic arm consists of
mainly:

1. Links
2. Waist
3. Joint
4. Elbow
5. Shoulder
6. Flange
 Degree Of Freedom
Refers to freedom of movement.
The movement can be in x, y, z axes.
Higher DOF indicates higher flexibility in
positioning.
In 3D the robotic arm has 6 DOF.
Forward/backward, up/down, left right
combined with rotation about three
perpendicular axes.
 Work Space
It is the volume in which the end effector can
move.
CLASSIFICATION OF ROBOTIC ARMS
1. Cartesian robot:
PPP configuration.

2. Cylindrical robot:
RPP configuration.

3. Spherical robot:
RRP configuration.

4. Articulated arm robot:

RRR configuration.
 Popular Robots
The major robotic arms are:
1. SCARA Selective Compliant Assembly
Robot Arm
2. PUMA - Programmable Universal
Machine for Assembly
3. STANFORD ARM
Stanford Arm
 It has 6 degree of freedom (6-dof).
All-electric mechanical manipulator robot
designed exclusively for computer control.
The kinematic configuration of the arm is not
humanoid with 6 joints
Links are configured such that mathematical
computations are reduced to speed up
computations.
Harmonic Drive and spur gear reducers,
potentiometers for position feedback, analog
tachometers for velocity feedback.
Electromechanical brakes for locking joints.
Brakes used on all joints to hold arm in
position, the computer computes the next
trajectory or attends to other timeshared
activities.
Robot Kinematics
Forward Kinematics:
1. To determine the robots arm position.
2. If all robot joint variables are known, one can
calculate where the robot is at any instant.

.Inverse Kinematics:
1. Calculate the determinant of the matrix.
2. Transpose the matrix.
3. Replace each element of the transposed matrix by its ad
joint matrix.
4. Divide the converted matrix by the determinant.
 DH Parameters
DenavitHartenberg parameters.
Four parameters associated with a particular
convention for attaching reference frames to the
links of a manipulator.
1. diis the algebraic distance along
axiszi-1to the point where the
common perpendicular intersects
axiszi-1.

2. aiis the length of the common

perpendicular to axeszi-1andzi.

3. qiis the angle, aboutzi-1, that the

common perpendicular makes
with vectorxi-1.

4. aiis the angle, about xi, that

vectorzimakes with vectorzi-1.
 Matrix Representation
An object can be represented in space by
attaching a frame to it and representing the
frame in space.

nx ox ax Px
n oy ay Py
Fobject y

nz oz az Pz

0 0 0 1
 Homogenous
Transformation
A transformation matrices must be in square form.
It is much easier to calculate the inverse of square matrices.
To multiply two matrices, their dimensions must match.

nx ox ax Px
n oy ay Py
F
y

nz oz az Pz

0 0 0 1
 Pure Translation Matrix
Translation, in a simple sense, is just the movement of one
point from another without changing the orientation of
space.

A1
1 0 0 pxx
P1 0 1 0 pyy
H=
O1
(12,35,45)

0 0 1 pzz
O0
(0,0,0)
0 0 0 1
 Pure Rotation Matrix
Rotation about one of the axes of a Coordinate system.
Every rotation matrix has the following form.

The column vectors rotate by matrix multiplication.

coordinates (x',y') of the point (x,y) after rotation will be:

The following three basic rotation matrices rotate vectors
by an angle about the x, y, or z axis.
Stanford Arm Kinematics
Convention for selectingframes of
referenceinroboticapplications is the(DH)
convention.
The coordinate transformations along a serial
robot consisting ofnlinks form the kinematics
equations of the robot,

where [T] is the transformation locating the end-

link.
This convention allows the definition of the movement of
links around a common joint axis Si by the screw
displacement.

Dimensions of each link in the serial chain are defined by

the screw displacement around the common normal
Ai,i+1 from the joint Si to Si+1
The table of link parameters is derived:

The position and orientation of the end-effector for a

single joint manipulator are
We need to multiply the three matrices taking into account
their corresponding indeces:

When the multiplication is done the equations equivalent

to x, y, and z coordinates of position of the end-effector
are determined.
DH Parameters Of Stanford Arm

Fig. The frames of the Stanford Arm. TABLE: THE PARAMETERS TABLE FOR THE
STANFORD ARM
 Degeneracy & Dexterity
Degeneracy:
The robot loses a degree of
freedom
When the robots joints reach
their physical limits.
If the z-axes Of two similar
joints becomes collinear.
Dexterity:
The volume of points where
FIG: Robot Arm in
one can Position the robot as degenerated
desired. position
 Refrences
1. Appin Knowledge Solutions. Robotics
2. Springer hand book of robotics.
3. Robotics, Professor S. G. Tzafestas, National Technical
University of Athens.
4. S. K. Saha, Introduction to Robotics, Tata McGraw-
Hill, New Delhi, 2008.
5. A. Ghosal, Robotics, Oxford, New Delhi, 2006
6. Robert J. Schilling, Fundamentals of Robotics - analysis
and control, Prentice-Hall India, 2003.