Chapter 2

Robot Kinematics: Position Analysis

2.1 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)
 Chapter 2
Robot Kinematics: Position Analysis

2.2 ROBOTS AS MECHANISM

Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 2.1 A one-degree-of-freedom closed-loop Fig. 2.2 (a) Closed-loop versus (b) open-loop mechanism
four-bar mechanism
 Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.1 Representation of a Point in Space

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P ax i by j cz k

Fig. 2.3 Representation of a point in space

 Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.2 Representation of a Vector in Space

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
 Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.3 Representation of a Frame at the Origin of a Fixed-Reference Frame

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

nx ox a x
F n y o y a y
nz oz a z

Fig. 2.5 Representation of a frame at the origin of the reference frame

 Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.4 Representation of a Frame in a Fixed Reference Frame

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

nx ox ax Px
n oy ay Py
F y

nz oz az Pz

0 0 0 1

Fig. 2.6 Representation of a frame in a frame

 Chapter 2
Robot Kinematics: Position Analysis
2.3 MATRIX REPRESENTATION
2.3.5 Representation of a Rigid Body

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

Fig. 2.8 Representation of an object in space

 Chapter 2
Robot Kinematics: Position Analysis
2.4 HOMOGENEOUS TRANSFORMATION MATRICES
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
 Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.1 Representation of a Pure Translation

A transformation is defined as making a movement in space.

A pure translation.
A pure rotation about an axis.
A combination of translation or rotations.

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
 Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.2 Representation of a Pure Rotation about an Axis

Assumption : The frame is at the origin of the reference frame and parallel to it.

Fig. 2.10 Coordinates of a point in a rotating

frame before and after rotation.
Fig. 2.11 Coordinates of a point relative to the reference
frame and rotating frame as viewed from the x-axis.
 Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.3 Representation of Combined Transformations

A number of successive translations and rotations.

Fig. 2.13 Effects of three successive transformations Fig. 2.14 Changing the order of transformations will
change the final result
 Chapter 2
Robot Kinematics: Position Analysis
2.5 REPRESENTATION OF TRANSFORMATINS
2.5.5 Transformations Relative to the Rotating Frame

Example 2.8

Fig. 2.15 Transformations relative to the current frames.

 Chapter 2
Robot Kinematics: Position Analysis
2.6 INVERSE OF TRANSFORMATION MATIRICES
Inverse of a matrix calculation steps :
Calculate the determinant of the matrix.
Transpose the matrix.
Replace each element of the transposed matrix by its own minor(adjoint matrix).
Divide the converted matrix by the determinant.

Fig. 2.16 The Universe, robot, hand, part, and end effecter frames.
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
Forward Kinematics Analysis:
Calculating the position and orientation of the hand of the robot.
If all robot joint variables are known, one can calculate where the robot is
at any instant.
Recall Chapter 1.

Fig. 2.17 The hand frame of the robot relative to the reference frame.
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position

Forward Kinematics and Inverse Kinematics equation for position analysis :

(a) Cartesian (gantry, rectangular) coordinates.

(b) Cylindrical coordinates.
(c) Spherical coordinates.
(d) Articulated (anthropomorphic, or all-revolute) coordinates.
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(a) Cartesian (Gantry, Rectangular) Coordinates

IBM 7565 robot

All actuator is linear.
A gantry robot is a Cartesian robot.

1 0 0 Px
0 1 0 Py
TP Tcart
R

0 0 1 Pz

0 0 0 1

Fig. 2.18 Cartesian Coordinates.

 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(b) Cylindrical Coordinates

2 Linear translations and 1 rotation

translation of r along the x-axis
rotation of about the z-axis
translation of l along the z-axis

TP Tcyl (r , , l ) Trans(0,0, l )Rot( z, )Trans( r ,0,0)

R

C S 0 rC
S C 0 rS
R
TP Tcyl
0 0 1 l

0 0 0 1
Fig. 2.19 Cylindrical Coordinates.
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(c) Spherical Coordinates

2 Linear translations and 1 rotation

translation of r along the z-axis
rotation of about the y-axis
rotation of along the z-axis

R
TP Tsph (r , , l ) Rot( z, )Rot( y, )Trans( 0,0, )

C C S S C rS C
C S C S S rS S
R
TP Tsph
S 0 C rC

0 0 0 1
Fig. 2.20 Spherical Coordinates.
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.1 Forward and Inverse Kinematics Equations for Position
2.7.1(d) Articulated Coordinates

3 rotations -> Denavit-Hartenberg representation

Fig. 2.21 Articulated Coordinates.

 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation

Roll, Pitch, Yaw (RPY) angles

Euler angles
Articulated joints
 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
2.7.2(a) Roll, Pitch, Yaw(RPY) Angles
Roll: Rotation of a about a-axis (z-axis of the moving frame)
Pitch: Rotation of o about o -axis (y-axis of the moving frame)
Yaw: Rotation of n about n -axis (x-axis of the moving frame)

Fig. 2.22 RPY rotations about the current axes.

 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
2.7.2(b) Euler Angles
Rotation of about a-axis (z-axis of the moving frame) followed by
Rotation of about o -axis (y-axis of the moving frame) followed by
Rotation of about a-axis (z-axis of the moving frame).

Fig. 2.24 Euler rotations about the current axes.

 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.2 Forward and Inverse Kinematics Equations for Orientation
2.7.2(c) Articulated Joints

Consult again section 2.7.1(d).

 Chapter 2
Robot Kinematics: Position Analysis
2.7 FORWARD AND INVERSE KINEMATICS OF ROBOTS
2.7.3 Forward and Inverse Kinematics Equations for Orientation

Assumption : Robot is made of a Cartesian and an RPY set of joints.

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 ( , , )

Another Combination can be possible

Denavit-Hartenberg Representation
 Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
Denavit-Hartenberg Representation :
@ Simple way of modeling robot links and
joints for any robot configuration,
regardless of its sequence or complexity.
@ Transformations in any coordinates
is possible.

@ Any possible combinations of joints

and links and all-revolute articulated
robots can be represented.

Fig. 2.25 A D-H representation of a general-purpose joint-link combination

 Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT

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 does not used in D-H representation.
 Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT

Procedures for assigning a local reference frame to each joint:

All joints are represented by a z-axis.

(right-hand rule for rotational joint, linear movement for prismatic joint)
The common normal is one line mutually perpendicular to any two
skew lines.
Parallel z-axes joints make a infinite number of common normal.
Intersecting z-axes of two successive joints make no common
normal between them(Length is 0.).
 Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT

Symbol Terminologies :

: A rotation about the z-axis.

d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
: The angle between two successive z-axes (Joint twist)

Only and d are joint variables.

 Chapter 2
Robot Kinematics: Position Analysis
2.8 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
The necessary motions to transform from one reference
frame to the next.
(I) Rotate about the zn-axis an able of n+1. (Coplanar)
(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis
with zn+1-axis.
 Chapter 2
Robot Kinematics: Position Analysis
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT
Determine the value of each joint to place the arm at a
desired position and orientation.
R
TH A1 A2 A3 A4 A5 A6
C1 (C234C5C6 S 234S 6 ) C1 (C234C5C6 S 234C6 )
S S C C1 (C234S5 ) S1C5 C1 (C234a4 C23a3 C2 a2 )
1 5 6 S1S5C6
S1 (C234C5C6 S 234S 6 ) S1 (C234C5C6 S 234C6 )
S1 (C234S5 ) C1C5 S1 (C234a4 C23a3 C2 a2 )
C1S5C6 C1S5C6
S 234C5C6 C234S 6 S 234C5C6 C234C6 S 234S5 S 234a4 S 23a3 S 2 a2

0 0 0 1
nx ox ax px
n oy ay p y

y

nz oz az pz

0 0 0 1
 Chapter 2
Robot Kinematics: Position Analysis
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT

nx ox ax px
p y
1 n y oy ay
A1 A11[ RHS ] A2 A3 A4 A5 A6
nz oz az pz

0 0 0 1

C1 S1 0 0 n x ox ax px
0 0 1 0 n y oy ay p y
A2 A3 A4 A5 A6
S1 C1 0 0 n z oz az pz

0 0 0 1 0 0 0 1
 Chapter 2
Robot Kinematics: Position Analysis
2.9 THE INVERSE KINEMATIC SOLUTION OF ROBOT
py
1 tan 1
px
(C3a3 a2 )( pz S 234a4 ) S3a3 ( pxC1 p y S1 C234a4 )
2 tan 1
(C3a3 a2 )( pxC1 p y S1 C234a4 ) S3a3 ( Pz S 234a4 )
S3
3 tan 1

C 3

4 234 2 3

C234 (C1a x S1a y ) S 234az

5 tan 1
S1a x C1a y

S 234 (C1nx S1n y ) S 234nz

6 tan 1
S 234 (C1ox S1o y ) C234oz
 Chapter 2
Robot Kinematics: Position Analysis
2.10 INVERSE KINEMATIC PROGRAM OF ROBOTS
A robot has a predictable path on a straight line,
Or an unpredictable path on a straight line.

A predictable path is necessary to recalculate joint variables.

(Between 50 to 200 times a second)
To make the robot follow a straight line, it is necessary to break
the line into many small sections.
All unnecessary computations should be eliminated.

Fig. 2.30 Small sections of movement for straight-line motions

 Chapter 2
Robot Kinematics: Position Analysis
2.11 DEGENERACY AND DEXTERITY
Degeneracy : The robot looses a degree of freedom
and thus cannot perform as desired.
When the robots joints reach their physical limits,
and as a result, cannot move any further.
In the middle point of its workspace if the z-axes
of two similar joints becomes colinear.

Dexterity : The volume of points where one can

position the robot as desired, but not
orientate it.

Fig. 2.31 An example of a robot in a degenerate position.

 Chapter 2
Robot Kinematics: Position Analysis
2.12 THE FUNDAMENTAL PROBLEM WITH D-H REPRESENTATION

Defect of D-H presentation : D-H cannot represent any motion about

the y-axis, because all motions are about the x- and z-axis.
TABLE 2.3 THE PARAMETERS TABLE FOR THE
STANFORD ARM

# d a
1 1 0 0 -90

2 2 d1 0 90

3 0 d1 0 0

4 4 0 0 -90

5 5 0 0 90

6 6 0 0 0
Fig. 2.31 The frames of the Stanford Arm.