Forward Kinematics Problem

Problem definition The Denavit-Hartenburg (D-H) convention Procedure for solving the forward kinematics problem

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The Forward Kinematics Problem

Figure source: Sciavicco & Siciliano

Joint variables = Internal Coordinates End effector location and orientation = External Coordinates
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Motivation
Consider the planar 3R robot as shown.
The position and orientation of the end-effector frame, F 3 , is given by the H-matri

H =

! 3

[ ]
! R3 0

p! 3 1

l3

q3

which can be obtained from

! 1 2 H! = H H H 3 1 2 3.

l2 q2 l1 q1

Figure source: Sciavicco & Siciliano

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"n this simple e ample, the H-matrices H

H1 =

[ ] [
R1 0
!

p1 1

R z q1 0

p1 1

H2 =

[ ] [
R2 0
1

p2 1

R z q2 0

p2 1

2 H3 =

[ ] [
2 R3 0 2 p3 1

R z q3 0

2 p3 1

[ ] [ ] [
]
=
= =

i 1 i

can be obtained by inspection#

c 1 s1 s1 c 1 ! ! ! !
c2 s2 s2 c2 ! ! ! ! c3 s3 s3 c3 ! ! ! !

! l 1 c1 ! l 1 s1 1 ! ! 1

! l 2 c2 ! l 2 s2 1 ! ! 1 ! l 3 c3 ! l 3 s3 1 ! ! 1

] ] ]

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H3 = H1 H2H3

c 123 s123 s123 c 123 ! ! ! !

! l 1 c 1 l 2 c 12 l 3 c 123 ! l 1 s1 l 2 s12 l 3 s123 . 1 ! ! 1

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$et F n be the end-effector frame, then the sol%tion of the forward &inematics problem is given by
! 1 i 1 n 1 H! = H H H H . n 1 2 i n

The matri H ii 1 depends on the geometry of the lin& and the 'oint variable qi . "n general, ( parameters are re)%ired to specify this matri .

Hi

i 1

Ri 0

i 1

pi 1

i 1

]
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*enavit and Hartenb%rg proposed the following constraints between s%cessive coordinate frames# +*H1, x i z i 1 , and +*H2, x i intersects z i 1 . These 2 constraints red%ce the n%mber of parameters re)%ired to specify H ii 1 from ( to -. These - parameters are called#
.oint parameters# 'oint angle i and 'oint distance d i . $in& parameters# lin& length a i and twist angle i .

They can be determined once co-ordinate frames satisfying the above constraints are set %p on the mani%p%lator.
Y.C.Chen

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To solve the forward kinematics problem, coordinate frames are first attached to the links of the manipulators using the Denavit-Hartenburg (DH) Convention as follows:

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Figure source: Badj et. al.

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For example, if the end-effector is a gripper then the end-effector frame is chosen as follow: The origin of the frame is chosen at the center of the gripper. The z-axis is chosen in the approach direction to the object. The y-axis is chosen normal to the z-axis in the sliding plane of the jaws. The x-axis is chosen so that it completes a right-handed frame.

yn

zn

on

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bi

Figure source: Sciavicco & Siciliano

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/otes# 1. The lin& parameters a i and i are determined by the geometric str%ct%re of the lin&. Hence, they are always constant. 2. The 'oint angle is variable for a revo%te 'oint and constant for a prismatic 'oint, i.e. i =

{ {

qi for a revol%te 'oint constant for a prismatic 'oint

3. The 'oint distance is variable for a prismatic 'oint and constant for a revol%te 'oint, i.e. di = qi for a prismatic 'oint constant for a revol%te 'oint
Y.C.Chen

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Conclusion:
The H-matri H i
i 1

is only a f%nction of the 'oint variable qi , i.e.

Hi

i 1

= H i qi =

i 1

Rii 1 qi 0

pii 1 qi . 1

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To find H ii1 , we align F

i 1

bi i

with F #
Figure source: Sciavicco & Siciliano

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Hi

i 1

= R z i T z d i T x a i R x i

[ [

c s ! !

s c ! !
i

! ! 1 !

! ! ! 1

][
i i

1 ! ! !

! 1 ! !

! ! 1 !

c s ! !

s c
i

s s c !

ai c
i

c c
i

c s
i

a i s di 1

s !

! ! di 1

][

1 ! ! !

! 1 ! !

! ! 1 !

ai ! ! 1

][

1 ! ! !

! c s !

! s c !
i

! ! ! 1

=: H i

i 1

= Hi p

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Procedure for solving the Forward Kinematics Problem

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