Robot Kinematics

INTRODUCTION

Forward Kinematics:
to determine where the robot’s 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)
Direct Kinematics
with no matrices

Where is my hand?

Direct Kinematics:
HERE!
 Direct Kinematics
• Position of tip in (x,y) coordinates
Representation Chapter 2
of a Point in
RobotSpace
Kinematics: Position Analysis

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

^ ^ ^
P  a x i  by j  c z k

Fig. 1 Representation of a point in space

Representation of
Chapter 2
a Vector in
Robot Space
Kinematics: Position Analysis

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 Representation of a vector in space
Representation of a Frame at the
Chapter 2
Origin of aRobot
Fixed-Reference
Kinematics: Position Analysis 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. 3 Representation of a frame at the origin of the reference frame

Representation of
Chapter 2
a Frame in a
Fixed Reference
Robot Kinematics: PositionFrame
Analysis

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

The same
as last
slide

 nx ox ax Px 
n oy ay Py 
F  y

 nz oz az Pz 
 
0 0 0 1

Fig. 4 Representation of a frame in a frame

Representation Chapter
of a 2Rigid Body
Robot Kinematics: Position Analysis

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. 5 Representation of an object in space

 HOMOGENEOUS
Chapter 2
TRANSFORMATION MATRICES
Robot Kinematics: Position Analysis

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
Representation of
Transformations of
rigid objects
in 3D space
 RepresentationChapter 2
of a Pure
Translation
Robot Kinematics: Position Analysis

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.

Same
value a
identity

1 0 0 dx 
0 1 0 d y 
T 
0 0 1 dz 
 
0 0 0 1
Fig. 6 Representation of an pure translation in space
 Basic Rotation Matrix
– Rotation about x-axis with
1 0 0  z
Rot ( x, )  0 C  S 
w
P v
0 S C 
 px   pu  
 p   R ( x,  )  p  u
y
 y  v x
 p z   pw 
p x  pu
p y  pv cos   pw sin 
p z  pv sin   pw cos 
 Basic Rotation Matrices
– Rotation about x-axis with 
1 0 0 
Rx ,  Rot ( x, )  0 C  S 
0 S C 
– Rotation about y-axis with 
 C 0 S 
R y ,  Rot ( y,  )   0 1 0 
 S 0 C 

– Rotation about z-axis with 

C  S 0
Rz ,  Rot ( z , )   S C 0
Pxyz  RPuvw  0 0 1
MATRICES FOR
FORWARD AND
INVERSE
KINEMATICS OF
ROBOTS
• For position
• For orientation
FORWARD AND INVERSE KINEMATICS OF
Chapter 2
ROBOTS
Robot Kinematics: Position Analysis
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.
.

Fig. 7 The hand frame of the robot relative to the reference frame.
 Forward and Inverse Kinematics
Equations
Chapter 2
for Position
Robot Kinematics: Position Analysis

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.
 Forward and Inverse Kinematics
EquationsChapter for 2 Position
Robot Kinematics: Position Analysis
(a) Cartesian (Gantry, Rectangular)
Coordinates
• All the three joints are linear.
• Example: A gantry robot

1 0 0 Px 
0 1 0 
Py 
TP  Tcart
R

0 0 1 Pz 
 
0 0 0 1

Fig. 8 Cartesian Coordinates.

 Forward and Inverse Kinematics Equations for
Chapter 2
Position:
CylindricalRobot
Coordinates
Kinematics: Position Analysis

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

R
TP  Tcyl (r , , l )  Trans(0,0, l )Rot(z, )Trans(r ,0,0)

Fig. 9. Cylindrical Coordinates.

 1
� 0 0 C
0 ��  S 0 0 ��
1 0 0 r�
�
0 1 0 0� �S C 0 0� �
0 1 0 0�
Tcyl  � �� �� �
�
0 0 1 l ��0 0 1 0 ��
0 0 1 0�
� �� �� �
0
� 0 0 1 ��0 0 0 1 ��
0 0 0 1�

C  S 0 rC 
 S C 0 rS 
R
TP  Tcyl   
 0 0 1 l 
 
 0 0 0 1 
 Suppose that we desire to place the origin of the
hand frame of a cylindrical robot at [3,4,7] T.
Calculate the joint variables.

• From the transformation matrix of cylindrical robot,

C  S 0 rC  3
�� l7
 S C 0 rS  P  ��
4

rC  3
��

TP  Tcyl   
R ��
7
��

 0 0 1 l 

0 0 0 1
 rS  4
  4
Hence, tan  
3
r 5
  53.10
Forward and Inverse Kinematics Equations for
Chapter
Position 2
(c)Kinematics:
Robot Spherical Coordinates
Position Analysis

1 Linear translation and 2 rotations

• translation of r along the z-axis
• rotation of  about the y-axis
• rotation of  along the z-axis

TP  Tsph (r ,  , l )  Rot(z, )Rot(y, )Trans(0,0,r )

R

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. 10 Spherical Coordinates.
 Suppose that we desire to place the origin of the
hand frame of a spherical robot at [3,4,7] T.
Calculate the joint variables.

• From the transformation matrix of spherical robot,

rS  C  3 (1)   53.10

rS  S   4 (2) C  0.6
rC   7 (3) 3
rS   5 (4)

(2)/(1) 0.6
(4)/(3) and solving
4   35.50
tan  
3
r  8.6
Forward and Inverse Kinematics Equations for
Chapter
Position 2
(d)Kinematics:
Robot Articulated
PositionCoordinates
Analysis

3 rotations -> Denavit-Hartenberg representation

Fig. 11 Articulated Coordinates.

Forward and Inverse
Chapter 2
Kinematics
Equations
Robot Kinematics:for Orientation
Position Analysis

 Roll, Pitch, Yaw (RPY) angles

 Euler angles
Roll, Pitch, Yaw (RPY) Angles
The rotation matrix R can also be
described as a product of
successive rotations about the
principal axes x0,y0 and Z0 taken in
specific order.

These rotations define the roll,

pitch and yaw angles (ϕ, θ ,ѱ)

Lets consider a sequence

1.Yaw about x0 through an angle ѱ

2.Pitch about y0 through an angle θ
3.Finally, Roll about z0 through an
angle ϕ
Roll, Pitch, Yaw (RPY) Angles
RPY Angles from Rotation Matrix

Let the rotation matrix be,

r32 Sy
r11
� r12 r13 � 
r33 Cy
R10  �
r21
� r22 r23 �
�
�
r31
� r32 r33 �
� �r32 �
y  tan � �
1

�r33 �
RPY Angles from Rotation Matrix
r21 Sf

r11 Cf

�r21 �
f  tan � � 1

�r11 �

r31 S

r112  r222 C

� r �
  tan � 31 1
�
� r2  r2 �
� 11 22 �
Determine the roll, pitch, yaw angles and
displacement of a Cartesian-RPY robot for the
following end effector orientation and position

�nx ox ax px � �0.354 0.674 0.649 4.33�

�ny oy ay py � �0.505 0.722 0.475 2.5 �
R
TP  � � � �
�nz oz az pz � � 0.788 0.160 0.595 8 �
� � � �
�0 0 0 1� � 0 0 0 1 �

Hence,
�r �
y  tan 1 �32 � f  550
�r33 �

1 �r21 �   520
f  tan � �
�r11 �
y  150
� r �
Px  4.33 Py  2.5
  tan � 31
1
�
� r2  r2 � Pz  8
� 11 22 �
 Euler angle sequence
• Three coordinates are necessary to
represent rotation. These three co-ordinates
are called Euler angles (typically denoted as
α, β, γ, or φ, θ, ψ )

• Twelve possible sequences of rotation axes,

divided in two groups:
• Proper Euler angles (z-x-z, x-y-x, y-z-y, z-y-
z, x-z-x, y-x-y)

• Tait–Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y,

z-y-x, y-x-z).
 Proper Euler angles
Example: ZYZ Sequence
Forward and Inverse Kinematics Equations for
Chapter
Orientation 2
(b) Euler
Robot Kinematics: Angles
Position Analysis

Rotation of f 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 y about a-axis (z-axis of the moving frame).

Fig. Euler rotations about the

current axes.

Euler (f , ,y )  Rot(a, f ) Rot(o,  ) Rot(a,y )

Forward and Inverse Kinematics Equations for
Chapter
Orientation 2
(b) Euler
Robot Kinematics: Angles
Position Analysis

Cf C Cy  Sf Sy
� Cf C Sy  Sf Cy Cf S 0�
�
Sf C Cy  Cf Sy  Sf C Sy  Cf Cy Sf S 0�
Euler (f , ,y )  � �
�  S Cy S Sy C 0�
� �
� 0 0 0 1�
 Forward and Inverse Kinematics Equations for
Chapter
Orientation 2
(b) Euler Angles-
Robot Kinematics: Inverse
Position Analysis kinematics

Let the rotation matrix be,

r11
� r12 r13 �
R10  �
r21
� r22 r23 �
�
�
r31
� r32 r33 �
�

Cf C Cy  Sf Sy
� Cf C Sy  Sf Cy Cf S �
Euler (f ,  ,y )  �
Sf C Cy  Cf Sy
�  Sf C Sy  Cf Cy Sf S �
�
�  S Cy
� S Sy C � �
Forward and Inverse Kinematics Equations for
Chapter
Orientation 2
(b) Euler Angles-
Robot Kinematics: Inverse
Position Analysis kinematics

r32  Sy
 r23 Sf
r31 Cy 
r13 Cf

�r32 � �r23 �
y  tan � �
1
f  tan � � 1

�r31 � �r13 �

r132  r232 S

r33 C

� r2  r2 �
  tan � 13 23
1
�
� r33 �
� �
The final orientation of the hand of a Cartesian-
Euler robot is given below. Find the necessary
Euler angles.

�nx ox ax px � �0.579 0.548 0.604 5�

�ny oy ay py � �
0.540 0.813 0.220 7�
R
TP  � � � �
�nz oz az pz � �0.611 0.199 0.766 3�
� � � �
�0 0 0 1 � �0 0 0 1�
1 �r �
f  tan �23 �
�r13 � Hence,
f  200
� r2  r2 �
  tan � 13 23
1
�
y  180
� r33 �
� �
1 � r32 �   400 or 400
y  tan � �
�r31 �
 Euler angle Vs Fixed angle
• Euler angle

• Fixed angle
 1
The rotation matrix R2 relating the
orientation of frame 2 with respect to
frame 1 is given by
0.87 0.43 0.25 �
�
1
R2  �
�0.5 0.75  0.43�
�
�
�0 0.50 0.87 � �

Determine the corresponding set of

ZYX Euler angles
Forward and Inverse Kinematics Equations
Chapter 2
for Orientation
Robot Kinematics: Position Analysis

Roll, Pitch, Yaw(RPY) Angles

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

joints.
R
TH  Tcart ( Px , Py , Pz )  RPY (fa , fo , fn )
 Assumption : Robot is made of a Spherical Coordinate and an Euler angle.

R
TH  Tsph ( r ,  ,  )  Euler (f ,  ,y )

Another Combination can be possible……

Denavit-Hartenberg Representation