Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.01

Forward Kinematics

05. Forward Kinematics

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.02

Forward Kinematics

If we have joint variables and geometrical characteristics of a robot, we are able to determine the position and orientation of every link of robot We attach a coordinate frame to every link and determine its configuration in the neighbor frames using rigid motion method An analysis is called forward kinematics

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.03

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION A series robot with joints will have + 1 links Numbering of links starts from (0) for the immobile grounded base link and increases sequentially up to () for the end-effector link Numbering of joints starts from 1, for the joint connecting the first movable link to the base link, and increases sequentially up to The link () is connected to its lower link ( 1) at its proximal end by joint and is connected to its upper link ( + 1) at its distal end by joint + 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.04

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Figure 5.2 shows links ( 1), () and ( + 1) of a serial robot, along with joint 1, and + 1 Every point is indicated by its axis, which may be translational or rotational Attach a local coordinate frame to each link () at joint + 1 based on the following standard method, known as DenavitHartenberg (DH) method

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.05

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION According Denavit-Hartenberg method, local frame is defined as - The -axis is aligned with the + 1 joint axis - The -axis is defined along the common normal between the 1 and axes, pointing from the 1 to the -axis - The -axis is determined by the right-hand rule, = Generally speaking, we assign reference frames to each link so that one of the three coordinate axes , , or (usually ) is aligned along the axis of the distal joint By applying the DH method, the origin of the frame , , , is placed at the intersection of the joint axis + 1 with the common normal between the 1 and axes
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Robotics

5.06

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION A DH coordinate frame is identified by four parameters: , , and

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.07

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Link length is the distance between 1 and axes along the -axis, is the kinematic length of link Link twist is the required rotation of the 1 -axis about the -axis to become parallel to the -axis Joint distance is the distance between 1 and axes along the 1 axis, joint distance is also called link offset Joint angle is the required rotation of 1 -axis about the 1 -axis to become parallel to the -axis

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.08

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION The parameters and are called joint parameters, since they define the relative position of two adjacent links connected at joint For a revolute joint at joint , the value of is fixed, while is the unique joint variable For a prismatic joint , the value of is fixed and is the only joint variable The joint parameters and define a screw motion because is a rotation about the 1 -axis, and is a translation along the 1 -axis The parameters and are called link parameters, because they define relative positions of joint and + 1 at two ends of link The link parameters and define a screw motion because is a rotation about the -axis, and is a translation along the -axis

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.09

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Example 134 (Simplification comments for the DH method) There are some comments to simplify the application of the DH frame method - Showing only and axes is sufficient to identify a coordinate frame. Drawing is made clearer by not showing axes - If the first and last joint are , then 0 = 0 , = 0 0 = 0 , = 0 In these cases, the zero position for 1 , and can be chosen arbitrarily, and link offsets can be set to zero 1 = 0 , = 0

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.10

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION - If the first and last joint are , then 1 = 0 , = 0 And the zero position for 1 , and can be chosen arbitrarily, but generally we choose them to make as many parameters as possible to 0 - If the final joint is , we choose to align with 1 when = 0 and the origin of is chosen such that = 0 If the final joint is , we choose such that = 0 and the origin of is chosen at the intersection of 1 and joint axis that = 0 - Each link, except the base and the last, is a binary link and is connected to two other links - The parameters and are determined by the geometric design of the robot and are always constant. The distance is the offset of the frame with respect to 1 along the 1 -axis, 0
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.11

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION - The angles and are directional. Positive direction is determined by the right-hand rule according to the direction of and 1 - For industrial robots, the link twist angle, , is usually a multiple of 2 radian - The DH coordinate frames are not unique because the direction of axes are arbitrary - The base frame 0 0 , 0 , 0 = () is the global frame for an immobile robot

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.12

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Example 135 (DH table and coordinate frame for 3D planar manipulator) An manipulator is a planar robot with 3 parallel revolute joints The link coordinate frames can be set up as shown in the figure The DH table can be filled as follows
Frame No.

1
2 3

1
2 3

0
0 0

0
0 0

1
2 3

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.13

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Example 136 (Coordinate frames for a 3R PUMA robot) A PUMA manipulator shown in figure has main revolute joints, ignoring the structure of the end-effector of the robot

Frame No.

1
2 3

0
2 0

900
0 900

0
1 0

1
2 3

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.14

Forward Kinematics

I. DENAVIT-HARTENBERG NOTATION Example 137 (Stanford arm) A schematic illustration of the Stanford arm is a spherical robot attached to a spherical wrist
Frame No.

0 0

900 900

1 2

1 2

1 2

3
4 5 6
HCM City Univ. of Technology, Faculty of Mechanical Engineering

0
0 0 0

0
900 900 0

3
0 0 6

0
4 5 6
Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.15

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES The coordinate frame is fixed to the link and the coordinate frame 1 is fixed to the link 1 The following set of two rotations and two translations is a straightforward method to move the frame to coincide with the frame 1 - Rotate frame through about the 1 -axis - Translate frame along the 1 -axis by distance - Rotate frame through about the 1 -axis - Translate frame along the 1 -axis by distance

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.16

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Based on the Denavit-Hartenberg convention, the transformation matrix 1 to transform coordinate frames to 1 is represented as a product of four basic transformations using the parameters of link and joint 1 = 1 , 1, 1 , 1 , = 0 0 0 0 1 1 0 = 0 0 0 0 0 0 0 0 0 1 1 = 0 0 0 0 0 1 0 0 0 1 0 0 0 1
Nguyen Tan Tien

1 ,

1 ,

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.17

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES 0 0 1 0 0 0 0 0 0 1 0 0 1 , = 1 , = 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 Therefore the transformation equation from coordinate frame , , to its previous coordinate frame 1 1 , 1 , 1 is 1 1 1 1 = 1 1 Matrix 1 may be partitioned into two submatrices, which represent a unique rotation combined with a unique translation to produce the same rigid motion require to move from to 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Robotics

5.18

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES The inverse of the homogeneous transformation matrix 1 , or the transformation to move from 1 to is

1 =

1 1

= 0

0 0

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.19

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Example 141 (DH transformation matrices for a 2R planar manipulator) Figure 5.9 illustrates an planar manipulator and its DH link coordinate frame

Frame No.

1 2

0 0

0 0

1 2

1 2

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.20

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Based on the DH Table, we can find the transformation matrices from frame to frame 1 by
1

2 2 = 2 0 0

2 2 0 0

0 2 2 0 2 2 1 0 0 1

1 1 = 1 0 0

1 1 0 0

0 1 1 0 1 1 1 0 0 1

Consequently, the transformation matrix from frame 2 to 0 is 0 2 = 01 12 1 + 2 1 + 2 0 1 1 + 2 1 + 2 0 1 1 + 2 1 + 2 1 + 2 = 1 + 2 0 0 1 0 0 0 0 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

10

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.21

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Example 142 (Link with or joints) When the proximal joint of link is revolute and the distal joint is either revolute or prismatic, and the joint axes at two ends are parallel then - = 00 or = 1800 - is distance between joint axes - is only variable parameter - is distance between origin of and 1 along , usually = 0

HCM City Univ. of Technology, Faculty of Mechanical Engineering Tienof

Nguyen Tan

Robotics

5.22

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES The transformation matrix 1 for a link with = 00 and or joints, known as 0 or 0 is 0 0 1 = 1 0 0 0 0 0 1 1 The transformation matrix for a link with = 1800 and or joints, known as 180 or 180 is 0 0 1 = 1 0 0 0 0 0 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

11

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.23

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Example 150 (DH coordinate transformation based on vector addition) The DH transformation from a coordinate frame to the other can also be described by a vector addition. The coordinates of a point in frame 1 are given by vector equation 1 = 2 + 1 2 Where 1 1 2 = 1 2 3 1 = 1 1 1 2 2 = 2 2 2
1

HCM City Univ. of Technology, Faculty of Mechanical Engineering Tienof

Nguyen Tan

Robotics

5.24

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES However, they must be expressed in the same coordinate frame 1 = 2 2 , 1 + 2 2 , 1 + 2 2 , 1 + 1 1 = 2 2 , 1 + 2 2 , 1 + 2 2 , 1 + 2 1 = 2 2 , 1 + 2 2 , 1 + 2 2 , 1 + 3 1 = 2 0 + 2 0 + 2 0 + 1 The transformation can be rearranged to be described with the homogeneous matrix transformation 2 , 1 2 , 1 2 , 1 1 2 1 1 2 , 1 2 , 1 2 , 1 2 2 1 = , 2 , 1 3 2 2 , 1 2 1 1 1 0 0 0 1 This matrix is correspond to matrix 1 by some assumption
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

12

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.25

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Example 152 (DH application for a slider-crank planar linkage) For a closed loop robot or mechanism there would also be a connection between the first and last links, so the DH convention will not be satisfied by this connection (planar slider-crank linkage )
Frame No.

2 3 4 0

900 0 0 900

0 0 0

1800 3 4 1

1 2 3 4
HCM City Univ. of Technology, Faculty of Mechanical Engineering Tienof

Nguyen Tan

Robotics

5.26

Forward Kinematics

II. TRANSFORMATION BETWEEN TWO ADJACENT COORDINATE FRAMES Applying a loop transformation leads to = 12 23 34 41 = 4 Where the transformation matrix contains elements that are functions of 2 , , 3 , 3 , 4 , 4 , and 1 . The parameters 2 , 3 and 4 are constant while , 3 , 4 , and 1 are variable. Assuming 1 is input and specified, we may solve for other unknown variables 3 , 4 and by equating corresponding elements of and

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

13

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.27

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS The forward kinematics (direct kinematics) is the transformation of kinematic information from the robot joint variable space to the Cartesian coordinate space Finding the end-effector position and orientation for a given set of joint variables is the main problem in forward kinematics This problem can be solved by determining transformation matrices 0 to describe the kinematic information of link in the base link frame The traditional way of producing forward kinematic equations for robotic manipulators is to proceed link by link using Denavit-Hartenberg notation Hence, the forward kinematics is basically transformation matrix manipulation

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.28

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS For a six DOF robot, six DH transformation matrices, one for each link, are required to transform the final coordinates to the base coordinates The position and orientation of the end-effector is also a unique function of the joint variables

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

14

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.29

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS The kinematic information includes: position, velocity, acceleration and jerk. However, forward kinematics generally refers to position analysis The forward position kinematics is equivalent to a determination of a combined transformation matrix 0 = 01 1 12 2 23 3 34 4 1 To find the coordinates of a point in the base coordinate frame, when its coordinates are given in the final frame, we do as follows 0 = 0

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.30

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS Example 154 (3R planar manipulator forward kinematics) The robot is an planar manipulator Using the DH parameters, we can find the transformation matrices for = 3,2,1

Fram e No.

1 2 3

0 0 0

0 0 0

1 2 3

1 2 3
HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

15

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.31

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS We have

3 2 = 3 3 0 0 3 3 0 0 0 3 3 0 3 3 1 0 0 1 1 0 = 1 1 0 0
1 2

1 1 0 0

0 0 1 0

2 2 2 2 0 0 0 0 1 1 1 1 0 1

0 2 2 0 2 2 1 0 0 1

Transformation matrix to relate end-effector frame to base frame is 1 + 2 + 3 1 + 2 + 3 0 14 0 24 1 + 2 + 3 0 3 = 01 12 23 = 1 + 2 + 3 0 0 1 0 0 0 0 1 14 = 1 1 + 2 1 + 2 + 3 1 + 2 + 3 24 = 1 1 + 2 1 + 2 + 3 1 + 2 + 3

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Robotics

5.32

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS The position of the origin of the frame 3 , which is the tip point of the robot, is at 1 1 + 2 1 + 2 + 3 1 + 2 + 3 0 0 = 1 1 + 2 1 + 2 + 3 1 + 2 + 3 0 3 0 0 1 1 We can find the coordinate of the tip point in the base Cartesian coordinate frame if we have the geometry of the robot and all joint variables X= 1 1 + 2 1 + 2 + 3 1 + 2 + 3 Y= 1 1 + 2 1 + 2 + 3 1 + 2 + 3

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

16

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.33

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS Example 155 ( articulated arm forward kinematics) An arm has the DH parameter table and link classification for set-up of the link frames as follows
Link No. 1 2 3 Frame No. Type (90) 0 90

0 2 0

900 0 900

1 2 3

1 2 3

1 2 3
HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.34

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS The complete transformation matrix has the following expression 0 3 = 01 12 23 1 2 + 3 1 1 2 + 3 2 1 2 2 1 1 2 + 3 1 1 2 + 3 2 2 1 + 2 1 = 0 2 + 3 1 2 2 2 + 3 0 0 0 1 The tip point of the third arm is at 0 0 3 in 3 . So, its position in the base frame would be at 0 = 03 3 2 1 + 2 1 2 + 3 1 2 + 3 2 1 + 2 2 1 + 3 1 2 + 3 = 1 2 2 + 3 2 + 3 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

17

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.35

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS Example 157 (Working space) Consider an arm Assume that every point joint can turn 3600 . Theoretically, point must be able to reach any point in the sphere 1 01 2 01
2

= 2 + 3

2 + 0.174 2 + 0.48 2 = 1.96 Point must be out of the sphere 2 01 2 01

2

= 2 3

2 + 0.174 2 + 0.48 2 = 0.01 The reachable space between 1 and 2 is called working space of the manipulator

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.36

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS Example 158 (SCARA robot forward kinematics) Consider the robot, we have the following transformation matrices 1 1 0 1 1 0 1 1 0 1 = 1 1 0 0 1 0 0 0 0 1 2 1 2 = 2 0 0 2 2 0 0 0 2 2 0 2 2 1 0 0 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

18

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.37

Forward Kinematics

III. FORWARD POSITION KINEMATICS OF ROBOTS 3 3 0 0 1 3 3 0 0 2 3 3 = 4 = 0 0 0 0 1 0 0 0 0 0 1 Therefore, the configuration of the end-effector frame is 0 4 = 01 12 23 34 1 + 2 + 3 1 + 2 + 3 0 0 1 + 2 + 3 = 1 + 2 + 3 0 0 1 0 0 0 0 1 0 0 in 0 0 1 0 the 0 0 1 base coordinate

1 1 + 2 1 + 2 1 1 + 2 1 + 2 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.38

Forward Kinematics

IV. SPHERICAL WRIST The spherical joint connects two links: the forearm and hand Axis of forearm and hand are assumed to be colinear at the rest position A spherical wrist is a combination of links and joints to simulate a spherical joint and provide three rotational DOF for the gripper link It is made by three links with zero length and zero offset

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

19

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.39

Forward Kinematics

IV. SPHERICAL WRIST A Roll-Pitch-Yaw spherical wrist has following transformation matrix 4 5 6 4 6 6 4 4 5 6 4 5 0 4 6 + 5 6 4 4 6 5 4 6 4 5 0 3 6 = 5 0 6 5 5 6 0 0 0 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.40

Forward Kinematics

IV. SPHERICAL WRIST Example 160 (DH frames of a roll-pitch-roll spherical wrist) We consider a roll-pitch-roll spherical wrist in rest position and motion position

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

20

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.41

Forward Kinematics

IV. SPHERICAL WRIST Example 161 (Roll-pitch-roll or Eulerian wrist) A roll-pitch-roll wrist has: 0 indicates its dead and 2 indicates its living coordinate frames The transformation matrix 01 , is a rotation about the dead axis 0 followed by a rotation about the 1 -axis
0 1 = 10 = 1 , 0 , = , , = 0

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.42

Forward Kinematics

IV. SPHERICAL WRIST The transformation matrix 12 is a rotation about the local axis 2 0 1 2 = 21 = 2 , = , = 0 0 0 1 Therefore, the transformation matrix between the living and dead wrist frames is 0 2 = 01 12 = +

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

21

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.43

Forward Kinematics

V. ASSEMBLING KINEMATICS Most modern industrial robots have a main manipulator and a series of interchangeable wrists

An articulated manipulator with three DOF

HCM City Univ. of Technology, Faculty of Mechanical Engineering

A spherical wrist
Nguyen Tan Tien

Robotics

5.44

Forward Kinematics

V. ASSEMBLING KINEMATICS The articulated robot that is made by assembling the spherical wrist and articulated manipulator is shown as follows

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

22

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.45

Forward Kinematics

V. ASSEMBLING KINEMATICS Example 169 (Spherical robot forward kinematics ) A spherical manipulator attached with a spherical wrist to make an robot
Frame No.

0 0

900 900

0 2

1 2

1 2

3
4 5 6
HCM City Univ. of Technology, Faculty of Mechanical Engineering

0
0 0 0

0
900 900 0

3
0 0 0

0
4 5 6
Nguyen Tan Tien

Robotics

5.46

Forward Kinematics

V. ASSEMBLING KINEMATICS The configuration of the wrist final coordinate frame 6 in the global coordinate frame is 11 12 13 14 23 24 0 6 = 01 12 23 34 45 56 = 21 22 31 32 33 34 0 0 0 1
11 = 6 4 1 1 2 4 + 6 1 2 5 + 5 1 4 + 1 2 4 21 = 6 1 4 2 1 4 + 6 1 2 5 + 5 1 4 + 2 4 1 31 = 2 4 6 + 6 2 5 4 5 2 12 = 6 4 1 1 2 4 6 1 2 5 + 5 1 4 + 1 2 4 22 = 6 1 4 2 1 4 6 1 2 5 + 5 1 4 + 2 4 1 32 = 6 2 4 6 2 5 4 5 2
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

23

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.47

Forward Kinematics

V. ASSEMBLING KINEMATICS
13 = 1 5 2 + 5 1 4 + 1 2 4 23 = 5 1 2 + 5 1 4 + 2 4 1 33 = 2 5 4 2 5 14 = 2 1 + 3 1 2 24 = 2 1 + 3 1 2 34 = 3 2

The end-effector kinematics can be solved by multiplying the position of the tool frame 7 with respect to the wrist point, by 06 0 7 = 06 67 1 0 0 0 0 1 0 0 6 Where 7 = 0 0 1 7 0 0 0 1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Robotics

5.48

Forward Kinematics

VI. COORDINATE TRANSFORMATION USING SCREWS It is possible to use screws to describe a transformation matrix between two adjacent coordinate frames and 1 We can move to 1 by a central screw , , 1 followed by another central screw , , 1 1 = , , 1 , , 1 cos cos sin cos sin sin sin cos cos cos sin sin = cos sin 0 0 0 0 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

24

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.49

Forward Kinematics

VI. COORDINATE TRANSFORMATION USING SCREWS Example 172 (Spherical robot forward kinematics based on screws ) Application of screws in forward kinematics can be done by determining the class of each link and applying the associated screws

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.50

Forward Kinematics

VI. COORDINATE TRANSFORMATION USING SCREWS The class of links for the spherical robot are
Link No. 1 2 3 4 5 6 Class 90 90 0 90 90 0
0 1

Screw transformation = 0, , 1 0, , 1 = 0, , 1 0, , 1 = , 0, 1 , 0, 1 = 0, , 1 0, , 1 = 0, , 1 0, , 1 = 0, , 1 , 0, 1
1 2 2 3 3 4

4 5 5 6

Therefore, the configuration of end-effector frame in based frame is 0 6 = 0, , 1 0, , 1 0, , 1 0, , 1 , 0, 1 , 0, 1 0, , 1 0, , 1 0, , 1 0, , 1 0, , 1 , 0, 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

25

Hi-Tech Mechatronics Lab

10/4/2011

Robotics

5.51

Forward Kinematics

VII. NON DENAVIT-HARTENBERG METHODS The Denavit-Hartenberg (DH) method is the most common method used However, the DH method is not the only method used, nor necessarily the best. There are other methods with advantages and disadvantages when compared to the DH method. In the Sheth method, we define a coordinate frame at each joint of a link, so an joint robot would have 2 frames.

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Robotics

5.52

Forward Kinematics

VII. NON DENAVIT-HARTENBERG METHODS This figure shows the case of a binary link where a first frame , , is attached at the origin of the link and a second frame , , to the end of the link

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

26