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Manipulator Kinematics
Instructor: Dr. Ing. Michele Folgheraiter
Topics
Topics to Cover
Direct Kinematics Problem Definition
Link Description
Affixing Frames To Links
Denavit-Hartenberg ai ,i ,di,i (Modified Craig Conven5on)
PUMA 560 Direct Kinematics Model
Yasukawa Motoman L-3 Direct Kinematics Model
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Course Logistic
To Remember:
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Manipulator Kinematics
Kinematics studies the position, the velocity, the acceleration and the higher order
derivatives of the robot parts without considering the forces/moments that caused the
motion.
Kinematics considers the geometry of the manipulator (e.g. dimensions of the links, kind of
joints, configurations) and the time-based properties of the motion (e.g. linear and angular
velocities of the end-effector, manipulator Jacobian).
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Base
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Manipulator Kinematics
The manipulators we will consider are open kinematic chains: set of bodies (links)
connected in a chain by mechanisms (joints) that allow some DOF between the two bodies
they connect.
We will consider lower pair connections between the links: the relative motion of one link
respect to the other is characterized by two surfaces sliding reciprocally.
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Manipulator Kinematics
Obs.1: Constructors of manipulators prefer to design the system allowing only 1-DOF for
each joint (normally revolute or prismatic).
Revolute
Prismatic
Obs.2: In the case we have a joint with n-DOFs we can always model it as n joints with
1-DOF each connected with n-1 links having zero-dimensions.
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Manipulator Kinematics
Example of a joint with 3DOFs: Maximum-One shoulders joint.
7 Artificial Muscles
Shoulder: 3-DOFs
Elbow: 1-DOF
Maximum-One
(Politecnico Di Milano 2004)
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Deltoid
Biceps- Triceps
Pectorals-Dorsal
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Link Description
Link Twist: the second parameter we need in order to describe the relative position of two
consecutive axes is the angle i-1 between the projections of the two axes on a plane which
normal is the mutual perpendicular of the two axes.
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Link Description
Example15: find the lengths and the twist angles of the following links.
Link i-1
Joint i
Joint i-1
800mm
Link i-1
Joint i
Joint i-1
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Links-Connection Description
Let us now consider two consecutive links: Link i-1 and Link i :
Link offset: given the common Axis i between Link i-1 and Link i the link offset di is the
signed distance between the two points obtained from the intersection of ai-1 and ai with
Axis i. For a prismatic joint this represents the joint variable, otherwise it is a constant.
Joint angle: this is the angle i between ai-1 and ai and defined about the Axis i. It
represents the joint variable in case of a revolute joint, otherwise it is a constant.
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Links-Connection Description
Obs1.: At the beginning and at the end of the kinematic chain by convention we assume
a0=an=0 and 0=n=0. While for i=1:n-1 ai and i are well defined.
- If joint 1 (or joint n) is a revolute joints the
zero position for 1 can be chosen arbitrarily,
and as convention we choose d1=0 (or dn=0).
- If joint 1 (or joint n) is prismatic the zero
position for d1 can be chosen arbitrarily, and as
convention we choose 1=0 (or n=0 ).
Denavit-Hartenberg (DH) Notation (1955)
Each Link i has associated 4 quantities: ai , i ,
di , i . For a revolute joint i is the variable
and the other three the link parameters. For a
prismatic joint di is the variable and the other
three the link parameters.
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1) We attach a frame {0} to the base of the robot that corresponds to the Link 0.
It can be arbitrarily located on the base of the robot. However, to simplify the model it is
better to make Z0 coincide with Z1 , this will set a0=0 and 0=0. Even better is to choose
{0} to overlap with {1} when the Joint 1 position is zero, this will also guaranty that d1=0
(for a revolute joint) or 1=0 (for a prismatic one).
Obs1.: Frame {0} does not move and can be considered as the absolute reference system for
our model (the inertial frame, the universe frame).
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Zi
Yi
X i
Link i
Zi+1
Joint i
Joint i+1
^ ^ ^
^ ^
Obs2.: If ai=0 a possible convention is to calculate the axis Xi= Zi x Zi+1/|| Zix Zi+1|| or to
choose the more convenient orientation among the two possible.
^
^ and Z
Obs3.: if Z
i
i+1 are parallel choose as the origin of frame {i} the one that sets di=0;
2.4) Yi is formed with the right-hand rule, i.e. {i} is a right-handed frame.
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Zn
Zn1
Link n-1
X n1
Link n
X n
Joint n
Link n
Zn1
Link n-1
X n1
X n
Joint n
Joint n-1
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Zn
Joint n-1
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Zi+1
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Joint i
i-1
ai-1
di
1
2
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Joint i
i-1
ai-1
di
1
2
3
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Course Logistic
To Remember:
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This Friday HW3 will be assigned and it is due on 7th of October at 22:00.
Friday 7th of October MIDTERM EXAM during lecture time 60min, (arrive 5 min
before lecture time): 3 questions, 2 exercises.
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i-1
iT
We want to derivate the homogeneous transform that defines the frame {i} relative to
frame {i-1}.
i1
i
T = i1iT ( i )
i1
i
T = i1iT (di )
Obs1.: Assuming that each joint has only 1DOF the transform matrix will be a function of
only one variable (i for a revolute joint, or di for a prismatic joint) and will depend on three
constant parameters.
Obs2.: We can obtain this transformation decomposing it in four different elementary
transformations: 2 translations + 2 rotations.
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i-1
iT
We define three intermediate frames {R}, {Q} and {P} such as:
0: {i-1} : initial frame
^
1: {R} : this frame is rotated of i-1 degrees about axis Xi-1
^
2: {Q} : this frame is translated of ai-1 along X
R
^
3: {P} : this frame is rotated of i degrees about ZQ
^
4: {i} : this frame is obtained from {P} translating of di along ZP
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i-1
iT
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{2}
Link 2
{0}
j3
j2
{N}
jN
Link N
{N+1}
{1}
j1
Link 0
Obs1.: this transformation is a function of all the n joint variables and represents the
position and orientation of frame {N} relative to frame {0}.
0
N
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T = N0T (1,..., N )
= [ 1, 2 ,..., N ]
Cartesian Space: this is the space where the position and the orientation of each robots
link is represented. Sometimes, it is also referred as Task-oriented Space or Operational
Space.
Actuator Space: this is the space defined by the actuators positions:
A = [ A1, A2 ,..., AJ ]
j2
A1
j1
j1
Link 0
Link 0
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A1
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Direct Mapping
Forward Kinematic Model: Maps an actuator position vector to a joint position vector
and finally to a homogeneous transform matrix (position and orientation).
Obs1.: To plan the motion of a manipulator some times it is convenient to work in the
Cartesian Space , others will be more effective to work directly in the Joint or the Actuator
Spaces.
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1DOFs
Elbow
J3
J2
J1
3DOFs Wrist
2DOFs
Shoulder
J4
J5
J6
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Wrist
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Manipulator
Axes Controller
Teach Pendant
Terminal
Variable
Assembly
Language
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320
Lateral view
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AXES:
ACTUATION:
REACH:
WEIGHT:
CAPACITY:
6
DC motors
878 mm
54 Kg
2.2 Kg
CONTROLLER
WEIGHT:
176 Kg
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Joint i
i-1
ai-1
di
a3
1
2
3
d4
4
5
6
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0
6
0
1
1
2
2
3
3
4
4
5
5
6
T= T T T T T T
Then we calculate:
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0
6
0
1
1
2
2
3
3
4
4
5
5
6
T= T T T T T T
" c c s s
c2 s3 s2 c3
$ 2 3 2 3
0
0
$
1 2
T
T
=
2 3
$
$ s2 c3 c2 s3 s2 s3 c2 c3
$#
0
0
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a2 c2 %
'
1
d3 '
'
0 a2 s2 ' c( + ) = c( )c( ) s( )s( )
'& s( + ) = c( )s( ) + s( )c( )
0
1
0
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0
6
0
1
1
2
2
3
3
4
4
5
5
6
T= T T T T T T
3
6
1
6
We can calculate:
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0
6
0
1
1
2
2
3
3
4
4
5
5
6
T= T T T T T T
]
1
6
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Joint 3
Link2
Link1
Joint 1
Link0
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Joint 3
Joint 2
Link1
Joint 1
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Link0
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Obs4.: for Joint 1 and Joint 5 we have a simple linear relationships between the actuator
and the joint position, where ki is a scaling factor due to the gear system and i is
representing an offset most probably due to how the position sensor was installed.
Obs5.: notice that the position of Joint 3 depends on A3 and also A2 .
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Configuration (0,-90,90,90,0)
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Where c234=cos(2+3+4).
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...
...
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