JOINTS

REVOLUTE TRANSLATIONAL JOINT CYLINDRICAL JOINT (2

JOINT (1 DOF) (1 DOF) DOF)

SPHERICAL JOINT (3 PLANAR JOINT (3

DOF) DOF)
CS
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KINEMATIC
ARTICULATED HIERARCHY

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KINEMATIC
 TREE-BASED
HIERARCHICAL MODEL

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KINEMATIC
SKELETON HIERARCHY

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KINEMATIC
 KINEMATICS

FORWARD INVERSE
KINEMATICS KINEMATICS
THE MODELER THE MODELER
ROTATES OR MOVES MOVES A HANDLE
INDIVIDUAL JOINTS TO POSE THE
TO POSE AND ENTIRE JOINT
ANIMATE THE JOINT CHAIN
CS
CHAINS 490.006/582.001
KINEMATIC
FORWARD KINEMATICS

CS
490.006/582.001
KINEMATIC
INVERSE KINEMATICS

CS
490.006/582.001
KINEMATIC
 CASE STUDY: TWO-LINK
ARM Forward Kinematics:
𝑥 = 𝐿1 cos 𝜃1 + 𝐿2 cos 𝜃1 + 𝜃2
𝑦 = 𝐿1 sin 𝜃1 + 𝐿2 sin(𝜃1 + 𝜃2 )

Inverse Kinematics: L2
𝑥 2 = 𝐿1 2 cos2 𝜃1 + 2𝐿1 𝐿2 cos 𝜃1 cos(𝜃1 + 𝜃2 ) + 𝐿2 2 cos2 (𝜃1 + 𝜃2 )
𝑦 2 = 𝐿1 2 sin2 𝜃1 + 2𝐿1 𝐿2 sin 𝜃1 sin(𝜃1 + 𝜃2 ) + 𝐿2 2 sin2 (𝜃1 + 𝜃2 )
cos 𝜃1 cos 𝜃1 cos 𝜃2 − sin 𝜃1 sin 𝜃2
𝑥 2 + 𝑦 2 = 𝐿1 2 + 𝐿2 2 + 2𝐿1 𝐿2
+ sin 𝜃1 (sin 𝜃1 cos 𝜃2 + cos 𝜃1 sin 𝜃2 ) L1 2 y
= 𝐿1 2 + 𝐿2 2 + 2𝐿1 𝐿2 cos 𝜃2
𝑥 2
+ 𝑦 2
− 𝐿1
2
− 𝐿 2
2 4  1
−1 3
𝜃2 = cos
2𝐿1 𝐿2
𝑦 𝐿2 sin 𝜃2 x
tan 𝜃3 = tan 𝜃4 =
𝑥 𝐿2 cos 𝜃2 + 𝐿1
𝜃1 = 𝜃3 − 𝜃4
𝑦 𝐿2 sin 𝜃2
tan 𝜃3 − tan 𝜃4 −
𝑥 𝐿2 cos 𝜃2 + 𝐿1
tan 𝜃1 = tan(𝜃3 − 𝜃4 ) = =
1 + tan 𝜃3 tan 𝜃4 1 + 𝑦 𝐿2 sin 𝜃2
𝑥 𝐿2 cos 𝜃2 + 𝐿1
𝑦 𝐿2 cos 𝜃2 + 𝐿1 − 𝑥𝐿2 sin 𝜃2
=
𝑥 𝐿2 cos 𝜃2 + 𝐿1 + 𝑦𝐿2 sin 𝜃2
𝑦 𝐿2 cos 𝜃2 + 𝐿1 − 𝑥𝐿2 sin 𝜃2
𝜃1 = tan−1 CS
𝑥 𝐿2 cos 𝜃2 + 𝐿1 + 𝑦𝐿2 sin 𝜃2
490.006/582.001
KINEMATIC
 USING THE JACOBIAN
MATRIX Forward Kinematics:
𝑥 = 𝐿1 cos 𝜃1 + 𝐿2 cos 𝜃1 + 𝜃2
𝑦 = 𝐿1 sin 𝜃1 + 𝐿2 sin(𝜃1 + 𝜃2 )

Jacobian: Effector
𝜕𝑥 𝜕𝑥 Position
𝜕𝜃1 𝜕𝜃2 −𝐿1 sin 𝜃1 − 𝐿2 sin(𝜃1 + 𝜃2 ) −𝐿2 sin(𝜃1 + 𝜃2 )
𝐽= = L2
𝜕𝑦 𝜕𝑦 𝐿1 cos 𝜃1 + 𝐿2 cos(𝜃1 + 𝜃2 ) 𝐿2 cos(𝜃1 + 𝜃2 )
𝜕𝜃1 𝜕𝜃2

L1 2 y
y
 1

∆𝑥 ∆𝜃1 x Effector
Iteratively solve =𝐽 until the ∆𝜃𝑖 are small. Destination
∆𝑦 ∆𝜃2

CS
490.006/582.001
KINEMATIC