Lecture 1 1718 D6

ROBOTICS - MEC8026
PART II: INDUSTRIAL ROBOTS
LECTURERS:
DR. HARRIET GRIGG (ME!) – M41 – PART II
DR. JOHN HEDLEY (MODULE LEADER) – M42A – PART I
1
Dr. H.T.D. Grigg 2016. Copyright Newcastle University.
email:harriet.grigg@newcastle.ac.uk
20 CREDIT MODULE ≡ 200 CREDIT
HOURS!
PART II: 10 CREDITS / 100 HOURS
Contact Time Schedule for Part II:(approximate)

• 12 hours lectures
• 18 hours tutorial
AND
• 70+ hours private self-directed study over 10 weeks –
~1h/weekday
• This is the basic level of effort expected to obtain a first
class grade (70%+) for most students.
2
Learning Objectives
• To gain an appreciation of the fundamentals of robotic systems,
control, sensors, and applications.
• To learn and become fluent in the appropriate mathematical
language and techniques, in theory and in practice
• To acquire competence in analysis of 6DOF FK and IK, suitable to
program FK/IK based feedback control and trajectory planning
tasks in a high level programming language.
Assessment – parts 1 and 2 overall
80% Unseen Examination (January)
- Minimum pass mark of 35%
20% 2x10% Class Tests
- Chance to check your progress and get marks on the board
- Minimum pass of 35%
Overall Pass Mark 50%
3
COURSE STRUCTURE
• 6 Taught Weeks
• Each Week:
• 2 Hour Lecture
• 3X1 Hour Tutorials ( 2 are tests – Week 2 is the first test )
4
WHO AM I?
• Dr. H. Grigg, MEng PhD
• “Harri” or “Harriet” are fine
• M41 – My Office
• 0191 208 6219
• Harriet.Grigg@Newcastle.ac.uk
• Here to help – call in any time!
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MY RESEARCH
• Microsystems
• Biosensors
• Applied Mathematics
6
RECOMMENDED TEXT BOOKS
The following book is essential reading:
• Craig JJ ‘Introduction to Robotics’, Addison-Wesley
Let’s begin!
7
ROBOTICS MARKET
• Mature, globalised market
• Rapidly growing for a mature sector
• Global market Cap >$50Bn
• EU a world leader
• Predicted CAGR 2015-2019: ~10% [1]
• Adds value:
• Decreases labour intensity of capital (fraction of costs
associated with paying workers
• Increases precision, repeatability
• Reduces component rejection rate
• Increases output
[1] www.ifr.org World Robotics Report 2016
8
A BRIEF HISTORY OF INDUSTRIAL
ROBOTS
1947 – Goertz develops electrically
operated tele-manipulator
1952 - John Parker developed first

NC machine tool at MIT
1961 - George Devol developed the

first industrial ‘Programmable
Article Transfer’ device.
1962 Unimate 1 developed -

world’s first industrial robot.
Unimation co. formed by Devol and
Joseph Engelberger.
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THERE ARE TWO PRINCIPAL
TYPES OF ROBOT:
Industrial robot – traditional fixed arm type
manipulator, typically used in a manufacturing
system, as a ‘tool’ or handling device. (HG)
Autonomous mobile robot – designed for use in

both structured and unstructured environments, for
use as ‘delivery’ or ‘monitoring’, and not fixed in
one physical location. (JH)
However, the term ‘robot’ has now come to mean

any device attributed with having some
‘intelligence’!
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ROBOTS IN INDUSTRY
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ROBOT SYSTEMS
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DEGREES OF
FREEDOM
• 6 DOF required to position and
orient object in 3D space
• Manipulators designed to reflect this
• 3 positioning DOF (‘arm’)– 3
Orienting DOF (‘wrist’)
• Mathematical description uses
“Homogeneous Coordinates” and
“Homogeneous Transforms”
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ROBOT MANIPULATOR -
ARM DESIGN
Puma 560 robot (circa

1990)
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MECHANICAL STRUCTURE OF A
PUMA 760 ROBOT - JOINT 3
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PUMA 560 FOREARM
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PUMA 560 WRIST
AXES
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KUKA KR5 WRIST
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BASIC ROBOT
CONTROLLER
DESIGN
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PROGRAMMING – MANUAL TEACH
PENDANT
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Dr. H.T.D. Grigg 2016. Copyright Newcastle University. 300m
OFF-LINE PROGRAMMING
ENVIRONMENTS
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CLOSED-LOOP
CONTROLLER
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THE POSSIBILITIES
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BREAK
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ROBOT KINEMATICS
THE STUDY OF ROBOT
KINEMATICS IS CONCERNED
ONLY WITH THE POSITIONAL
RELATIONSHIPS BETWEEN JOINT
ANGLES, LINK LENGTHS AND
GEOMETRY, (AND INCLUDES
VELOCITIES AND
ACCELERATIONS).
NOTE: THE STUDY OF ROBOT

DYNAMICS IS CONCERNED WITH
THE NATURE OF THE FORCES
(AND TORQUES) EXERTED ON/OR
BY THE ROBOT DURING MOTION,
RESULTING FROM THE JOINT
VELOCITIES AND
ACCELERATIONS
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CARTESIAN FRAMES
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ROBOT KINEMATIC
CHAINS
Robot positions are defined in
terms of vectors.
The robot manipulator is
constructed from a series of rigid
links interconnected by joints
which are driven by actuators.
Most (but not all) robots are
constructed using links which are
connected serially as an open-
kinematic chain, and are referred to
as serial robots
Some robots are constructed using
a parallel configuration, with the
manipulator having a closed-
kinematic chain, and are called
parallel robots.
(http://en.wikipedia.org/wiki/Stewart_platform)
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SERIAL LINK MANIPULATORS
•The links are numbered from the base to the end-effector
•The base link is usually fixed to ground – called link 0
•Most industrial robots comprise a combination of revolute (R) or
prismatic (P) joints – usually with only 1 dof
•An all-revolute serial robot with 6 joints would be referred to as a
6R robot, and has 7 links. Here is a n-link robot:
3
2
1
0 n
Base Link End-effector
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FORWARD & INVERSE
KINEMATICS
29
FORWARD & INVERSE
KINEMATICS
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4 CONFIGURATIONS –
1 POSITION!
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THEORY OF ROBOT
KINEMATICS
• Used to describe both the position and orientation of each
of the robots’ links
• A reference frame is introduced to define the position and
orientation of each link and is rigidly attached to it as it
moves
• We define a way to move between frames – a Frame
Transformation
• By compounding each frame transformation, the position
and orientation of the robot’s end-effector in space can be
obtained, relative to the fixed base coordinate system
• First, we need to revise, make precise and extend the
necessary mathematical language of vectors and linear
algebra that you already know of.
32
VECTOR SPACE
DEFINITIONS
What is a vector, physically?
• A quantity having both magnitude AND
direction, e.g. velocity and force.
What is a scalar?
• A physical quantity having only magnitude,

e.g. speed and mass.
How can we make these concepts
precise and clear?
• Studying their mathematical descriptions
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VECTOR SPACE
DEFINITIONS
What is a vector, mathematically?
• Something we can add and subtract
reversibly – can’t multiply or divide
necessarily
What is a scalar?
• Something we can do arithmetic on
(+,-,/,x all work – except for /0)
What do we get if we combine these
structures?
• A vector space!
34
VECTOR SPACES
A Vector Space is any collection of a set G and field F satisfying the
following axioms:
• ∀𝑎, 𝑏 ∈ 𝐺, 𝑎 + 𝑏 ∈ 𝑔 (Closure of addition)
• ∀𝑎, 𝑏, 𝑐 ∈ 𝐺, 𝑎 + 𝑏 + 𝑐 = 𝑎 + 𝑏 + 𝑐 (Associativity of addition)
• ∀𝑎, 𝑏 ∈ 𝐺, 𝑎 + 𝑏 = 𝑏 + 𝑎 (Commutativity of addition)
• ∀𝑎 ∈ 𝐺, ∃ −𝑎 ∈ 𝑔 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑎 + −𝑎 = 0 (Additive Inverse)
Vectors in G form a Commutative Group
• ∀𝑎 ∈ 𝐺, 𝑓, 𝑔 ∈ 𝐹, 𝑓 𝑔𝑎 = 𝑓𝑔 𝑎 (Compatibility of Scalar
Multiplication & Vector Addition)
• ∀𝑎, 𝑏 ∈ 𝐺, 𝑓, 𝑔 ∈ 𝐹, 𝑓 𝑎 + 𝑏 = 𝑓𝑎 + 𝑓𝑏 (Distributitivty of Scalar
Multiplication over Vector Addition)
• ∀𝑎, 𝑏 ∈ 𝐺, 𝑓, 𝑔 ∈ 𝐹, 𝑓 + 𝑔 𝑎 = 𝑓𝑎 + 𝑔𝑎 (Distributitivty of Scalar
Addition over Scalar Multiplication)
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Field Operations +, −,×,÷ are compatible with Group Operations
VECTOR SPACES II
• Vectors can represent many “linear” objects – i.e. things that
can be added together reversibly, multiplied by scalars, or any
combination thereof.
• ℝ and ℂ are vector spaces over themselves (both the set G an
the field F are ℝ or ℂ.
• More familiarly, the set of ordered n-tuples of elements
from ℝ (or ℂ) also forms a vector space (over ℝ orℂ). This
space is usually denoted ℝ𝐧 (or ℂn ).
• Dimension 2: ∀𝑎, 𝑏 ∈ ℝ, 𝒙 = 𝑎, 𝑏 ∈ ℝ2
• Dimension 3: ∀𝑎, 𝑏, 𝑐 ∈ ℝ, 𝒙 = 𝑎, 𝑏, 𝑐 ∈ ℝ3
• And so forth (complex field / tuples, higher dimension…)
• Less familiar: Functions on [0,1] from ℝ or ℂ to themselves
• ∀𝑎 ∈ ℝ; 𝒇, 𝒈 ∈ 𝐿2 0,1 ; 𝑎 𝒇 + 𝒈 = 𝑎𝒇 + 𝑎𝒈 , 𝑒𝑡𝑐.
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INNER PRODUCT
• So far, have defined properties that allow us to add vectors and
multiply them by scalars consistently..
• However – angle between vectors and length of (different)
vectors (relative to each other) are not required by these axioms!
• Need an extra structure: Inner Product
• Dot Product, in familiar cases
• For functions on open unit interval, can be e.g.
1
• < 𝐹 𝑥 , 𝐺 𝑥 > = ‫׬‬0 𝐹 𝑥 𝐺 𝑥 𝑑𝑥
• Binary Operation: 𝒂, 𝒃 → 𝑭 maps two vectors from the space
to the underlying field
• Satisfies these axioms:
• 𝑥, 𝑦 = 𝑦, 𝑥 (Symmetric)
• 𝑎𝑥, 𝑦 = 𝑎 𝑥, 𝑦 (Scalar Linearity)
• 𝑥 + 𝑦, 𝑧 = 𝑥, 𝑧 + 𝑦, 𝑧 (Vector Linearity)
• 𝑥, 𝑥 ≥ 0 ; 𝑥, 𝑥 = 0 ↔ 𝑥 = 0 (Positive Definiteness)
37
LENGTHS AND INNER
PRODUCT
• A Vector Space with an Inner Product is called a Hilbert
Space – very useful/common in engineering, maths,
physics, etc.
• A notion of Length of a vector and Angle between two
vectors is induced by this Hilbert structure.
• Length:
• 𝒙 = + 𝒙, 𝒙 defines a real number (Norm) associated
to every vector which is (the zero scalar) 0 if and only if the
vector is also (the zero vector) 0.
• Triangle Inequality (Cauchy-Schwartz): 𝒙 + 𝒚 ≤ 𝒙 +
𝒚 , with equality when x and y “point in the same
direction” – just like ordinary lengths
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ANGLES AND INNER
PRODUCT
• An inner product also induces a notion of angle between two
vectors.
𝒙,𝒚
• 𝜗 = arccos
𝒙 × 𝒚
• This leads to the idea of ORTHOGONALITY
• “Perpendicular” – has same meaning
𝜋
• 𝜗 = 90 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 , 2 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
• 𝒙, 𝒚 = 0 ֞ 𝑥 ⊥ 𝑦 , "𝒙 𝑖𝑠 𝑜𝑟𝑡ℎ𝑜𝑔𝑜𝑛𝑎𝑙 𝑡𝑜 𝒚"

• Standard Euclidean (dot) Product is an inner product
• 𝒙. 𝒚 = 𝒙 𝒚 cos 𝜗 = 𝑥𝑖 𝑦𝑖
• This structure on ℝ𝑛 is what we mean by “Euclidean Space 𝔼𝑛 ”
• A “Geometric” space – where lengths and angles make sense
39
ORTHONORMAL BASIS
We are now in a position to define an orthonormal BASIS
(along with mappings between them).
• An (orthonormal) BASIS is a special distinguished set of
vectors in a vector space (whose elements are mutually
orthogonal and of length 1), which together “spans the
space”
• E.g. standard Euclidean basis / frame on 𝔼𝟑 is
ෞ𝒙 = 1,0,0 ෞ
𝒆 𝒆𝒚 = 0,1,0 ෞ 𝒆𝒛 = 0,0,1
• However, (infinitely) many other basis choices can be made for
𝔼𝟑 ; rotating by 45 degrees about z…
1 1 1 −1
𝒆ෞ
𝒙𝟐 = , , 0 ෞ
𝒆 𝒚𝟐 = , , 0 𝒆ෞ
𝒛𝟐 = 0,0,1
2 2 2 2
40
GEOMETRY AND
COORDINATES
Coordinates are an algebraic-geometry concept – arising in the
study of equations based on shapes and spatial arrangements of
objects. They let us do more algebra on vector spaces by treating
components of different vectors as scalars.
We can turn physical space (which we “know to be 3D”) or a
planar subset of it (2D) into the Euclidean space 𝔼3 or 𝔼2 by
choosing a Basis and Euclidean inner product. Then, any point
can be expressed uniquely by its coefficients in terms of the
(chosen) basis vectors with respect to the (chosen) origin.
HOWEVER – the coefficients will (of course) depend nontrivially

on the particular choice of frame!
In fact, this dependence is what we will study for the remainder of
this course.
41
COORDINATES II
Once we have made a choice of coordinates, any vector can be
expressed unambiguously as an ordered n-tuple. In 𝔼𝟑 , given a
particular choice of basis, we have:
ෞ𝒙 + 𝑝𝑦 𝒆
𝒑 = 𝑝𝑥 𝒆 ෞ𝒚 + 𝑝𝑧 𝒆
ෞ𝒛 ≡ 𝑝𝑥 , 𝑝𝑦 , 𝑝𝑧
The scalars 𝑝𝑥 , 𝑝𝑦 , 𝑝𝑧 are what we mean by the components of
the vector 𝒑 relative to the chosen coordinate system.
Note that the values of the will explicitly depend on the origin and
orientation of the chosen frame!
When we need to distinguish the coordinates with respect to
which a vector is written, we will use a superscript:
𝟏
𝒑 = 𝑝𝑥1 , 𝑝𝑦1 , 𝑝𝑧1 , 𝟐𝒑 = 𝑝𝑥2 , 𝑝𝑦2 , 𝑝𝑧2 , etc.
42
COORDINATES AND
THE INNER PRODUCT
Worked on the board
Given a vector p and a
coordinate system C1 with
basis vectors ෝ𝒆𝒙𝟏 and 𝒆ො 𝒚𝟏 on 𝑪
ℝ𝟐 : 𝑠, 𝒆ො 𝒚
𝑪𝟏 𝑪𝟏
𝒑= 𝑝𝑥 , 𝑪𝟏𝑝𝑦 ; 𝑪𝟏𝑝𝑥 , 𝑪𝟏𝑝𝑦 𝒑
∈ℝ 𝒑𝒚 𝑪
𝑠, 𝒆ො 𝒙
𝑪𝟏
𝑝𝑥 = 𝒑, 𝒆ො 𝒙𝟏
𝑪𝟏
𝑝𝑦 = 𝒑, 𝒆ො 𝒚𝟏
𝒑𝒙
43
BREAK
44
LINEAR TRANSFORMATIONS
OF A VECTOR SPACE
A Linear Transformation L (map, mapping) from a vector
space V to itself is a function L mapping each vector in V to
another such that:
∀𝑥, 𝑦 ∈ 𝑉, 𝐿 𝑥 + 𝑦 = 𝐿 𝑥 + 𝐿 𝑦 (𝐴𝑑𝑑𝑖𝑡𝑖𝑣𝑒 in vectors)

∀𝑎 ∈ 𝐹, 𝑥 ∈ 𝑉, 𝐿 𝑎𝑥 = 𝑎𝐿 𝑥 𝐻𝑜𝑚𝑜𝑔𝑒𝑛𝑒𝑜𝑢𝑠 in scalars
“A Linear Transformation maps every vector in V to a vector in V

such that the output is linear in the input”
Higher Dimensional Analog of y=Mx : M is a matrix, x and y are
vectors
Constant term always equals 0. Why?
45
LINEAR
TRANSFORMATIONS II
Once a coordinate system has been chosen, expanding the
previous definitions in terms of the components with respect to
that coordinate system gives:
𝐿(𝒑) = 𝐿 𝑝𝑥 , 𝑝𝑦 , 𝑝𝑧
= ቀ 𝛼1 𝑝𝑥 + 𝛼2 𝑝𝑦 + 𝛼3 𝑝𝑧 , 𝛽1 𝑝𝑥 + 𝛽2 𝑝𝑦 + 𝛽3 𝑝𝑧 , ൫𝛾1 𝑝𝑥 + 𝛾2 𝑝𝑦
46
MATRIX NOTATION AND
LINEAR
TRANSFORMATIONS
Matrices are so ubiquitous and powerful in engineering and
science precisely because they elegantly describe linear
transformations on finite dimensional Hilbert spaces.
𝛼1 𝛼2 𝛼3 𝑥1
𝐿 𝑥 = 𝑀𝑥 = 𝛽1 𝛽2 𝛽3 𝑥2
𝛾1 𝛾2 𝛾3 𝑥3
Conversely, each square 𝑛 × 𝑛 matrix with nonzero determinant
defines a linear operator from ℝ𝑛 to ℝ𝑛 .
An Invertible Square Matrix of dimension n maps every vector in
ℝ𝑛 to another vector in ℝ𝑛 such that the output is linear in the
input.
This is a geometric operation on the corresponding Euclidean
space.
47
ROTATIONS
cos 𝜗 − sin 𝜗
𝐑2𝐷 𝜗 =
sin 𝜗 cos 𝜗
• Determinant = +1
• Preserve lengths and angles
• In ℝ2 , no vectors are conserved (invariant)
• In ℝ3 , one direction is conserved for each rotation with
eigenvalue 1 – Axis of Rotation
• Matrix representation is “special orthogonal” –
rows/columns are orthonormal
48
2D ROTATION
Rotations in vector spaces can act in at least two distinct
ways we will need to be aware of:
• On a vector
• Maps non-basis vectors to different vectors in the SAME
coordinate system
• Basis Vectors appear to “move against” the transformation:
Contravariant
• On a basis
• Maps basis vectors to different basis vectors – defines a NEW
coordinate system
• Vectors in the space remain fixed
• Basis Vectors appear to “move with” the transformation:
Covariant
49
VECTOR ROTATION:
2D
• Consider a 2D Euclidean
unit vector p in a given
xy orthonormal
coordinate system C with
basis vectors {𝒆෡ 𝒙 , 𝒆ො 𝒚 }
• Makes a positive angle 𝑝
𝜽 with the positive X-axis
in the indicated (right
handed) sense
• What are its coordinates
in C?
• Projections on to the unit
vectors!
• So inner product with
basis vectors.
50
VECTOR ROTATION:
2D
Worked on the board
𝑪
𝑠, 𝒆ො 𝒚
𝒑
𝒑𝒚 𝑪
𝑠, 𝒆ො 𝒙
𝒑𝒙
51
2D ROTATION OF A
VECTOR: SUMMARY
𝒄𝒐𝒔 𝜽 −𝒔𝒊𝒏 𝜽
• 𝑹 𝜽 =
𝒔𝒊𝒏 𝜽 𝒄𝒐𝒔 𝜽
• 𝑹 𝜽 : 𝒑→ 𝒒
• “𝑹 𝜽 maps the vector p to a new vector q, keeping the
basis fixed”
• Contravariant: the vector changes against the
transformation/is moved by it
• The situation is not distinguishable from a rotation of the
basis in the other direction.
52
2D ROTATION:
CHANGE OF BASIS
Worked on the board
𝑪𝟏
𝒆ො 𝒙𝟏 𝒆ො 𝒙𝟐 𝒆ො 𝒙𝟏 𝒆ො 𝒚𝟐
• 𝑪𝟐𝑹 =
𝒆ො 𝒚𝟏 𝒆ො 𝒙𝟐 𝒆ො 𝒚𝟏 𝒆ො 𝒚𝟐
𝑪𝟏 𝑪𝟐 𝑪𝟏
• 𝑪𝟐𝑹: 𝒑 → 𝒑 (LAW OF CANCELLATION – REMEMBER)
• “ 𝑪𝟏
𝑪𝟐𝑹 changes the basis vectors to define a new coordinate
system, keeping all other vectors fixed, so that the C2
components of p are transformed to the C1 components
ofp”
• “Change basis To C1 From C2”
• Covariant: the basis changes with the transformation,
while the vectors in the space stay fixed
53
3D ROTATION
• Any 3D rotation acts like a 2D rotation in one and only one
plane, perpendicular to an axis
• Axis must be specified and is not in general a coordinate
axis
• But any 3D rotation can be decomposed as a sequence of
rotations about the coordinate axes in many different
ways.
• Fixed angle rotations: for example, “rotate about X by
Alpha, then Y by Beta, then Z by Gamma, all in the original
coordinate system” (Fixed XYZ). Contravariant.
• Moving angle rotations: e.g. “Rotate about Z by an angle
Alpha, then about the NEW Y’ by an angle Beta, then
about the NEW Z’’ by an angle Gamma (Euler ZYZ).
Covariant.
54
3D BASIC ROTATIONS
Rotation matrices about orthonormal Euclidean basis vectors
are fundamental. LEARN THESE 
𝟏 𝟎 𝟎
𝑹𝒙 (𝜽) = 𝟎 𝒄𝒐𝒔(𝜽) −𝒔𝒊𝒏(𝜽)
𝟎 𝒔𝒊𝒏(𝜽) 𝒄𝒐𝒔(𝜽)
𝒄𝒐𝒔(𝜽) 𝟎 𝒔𝒊𝒏(𝜽)
𝑹𝒚 (𝜽) = 𝟎 𝟏 𝟎
−𝒔𝒊𝒏(𝜽) 𝟎 𝒄𝒐𝒔(𝜽)
𝒄𝒐𝒔(𝜽) −𝒔𝒊𝒏(𝜽) 𝟎
𝑹𝒛 (𝜽) = 𝒔𝒊𝒏(𝜽) 𝒄𝒐𝒔(𝜽) 𝟎
𝟎 𝟎 𝟏
55
FRAME
TRANSFORMATIONS
A Frame is a Basis
plus a choice of
Origin
A Frame
Transformation is a
56
Dr. H.T.D. Grigg 2016. Copyright Newcastle University. map between frames
FRAME
TRANSFORMATIONS II
• Transformation between general orthonormal frames – e.g.
Frame a and Frame b in the diagram – requires two
changes
• Translation of the origin
• Rotation of the frame
• Rotation can be represented as a linear transform
• Translation is NOT a linear transform or a matrix in a
simple way
• To see this – if we move the origin, the zero vector is now
nonzero and hence its image under the transformation is
not a linear multiple of it
• Need more powerful language!
57
AFFINE
TRANSFORMATIONS
• Composition of a Linear Transformation and a Translation
• Therefore, any two frames are related by an Affine
Transformation
• Higher dimensional analog of y=mx+c where c need not be
0
• If the Frames are both orthonormal (as all of the ones we
will use are) – the Linear Transformation is a pure rotation.
• The Linear Transformation is independent of the
Translation – hence the transformation from one Frame to
any other can be decomposed as a translation and a
rotation
58
PROJECTIVE SPACE
59
PROJECTIVE SPACE
• Set of lines through the
origin of a vector space
• Dimension is one less
than the original space
• We use ℙ𝟑 ⊃ ℝ𝟒
• 4D space so 4x4
matrices
60
PROJECTIVE SPACE
61
PROJECTIVE
(HOMOGENEOUS)
COORDINATES
• A coordinate system on Projective Space
• Representing a Frame Transformation in Homogeneous
Coordinates allows us to capture both transformations
and rotations in one matrix – as required
• To be continued next week!
62
SUMMARY OF
FORMULAE 1
Euclidean Inner Product
𝒑, 𝒒 = 𝒑 𝒒 cos 𝜗 = 𝑝𝑖 𝑞𝑖
2D Rotations
𝑐𝑜𝑠 𝜃 −𝑠𝑖𝑛 𝜃
𝑹 𝜽 =
𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃
𝑹 𝜽 : 𝑪𝟏𝒑 → 𝑪𝟏
𝒑′ 𝒘𝒉𝒆𝒓𝒆 𝒕𝒉𝒆 𝒑𝒐𝒔𝒊𝒕𝒊𝒗𝒆 𝒂𝒏𝒈𝒍𝒆 𝒃𝒆𝒕𝒘𝒆𝒆𝒏 𝒑 𝒂𝒏𝒅 𝒑′ 𝒊𝒔 𝜽
𝑪𝟏 𝑐𝑜𝑠 𝜃 −𝑠𝑖𝑛 𝜃
𝑪𝟐𝑹 =
𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃
𝑪𝟏 𝑪𝟐 𝑪𝟏
𝑪𝟐𝑹: 𝒑 → 𝒑 𝒘𝒉𝒆𝒓𝒆 𝒕𝒉𝒆 𝒗𝒆𝒄𝒕𝒐𝒓 𝒑 𝒅𝒐𝒆𝒔 𝒏𝒐𝒕 𝒄𝒉𝒂𝒏𝒈𝒆 𝒂𝒏𝒅 𝒕𝒉𝒆
𝒑𝒐𝒔𝒊𝒕𝒊𝒗𝒆 𝒂𝒏𝒈𝒍𝒆 𝒇𝒓𝒐𝒎 𝐭𝐡𝐞 𝐛𝐚𝐬𝐢𝐬 𝐯𝐞𝐜𝐭𝐨𝐫 𝒆ො 𝒙𝟐 to the basis vector
𝒆ො 𝒙𝟏 𝒊𝒔 𝜽
63
SUMMARY OF
FORMULAE 2
3D Rotations
1 0 0
𝑹𝒙 𝜽𝟏 = 0 𝑐𝑜𝑠(𝜃1 ) −𝑠𝑖𝑛(𝜃1 )
0 𝑠𝑖𝑛(𝜃1 ) 𝑐𝑜𝑠(𝜃1 )
𝑐𝑜𝑠(𝜃2 ) 0 𝑠𝑖𝑛(𝜃2 )
𝑹𝒚 𝜽𝟐 = 0 1 0
−𝑠𝑖𝑛(𝜃2 ) 0 𝑐𝑜𝑠(𝜃2 )
𝑐𝑜𝑠(𝜃3 ) −𝑠𝑖𝑛(𝜃3 ) 0
𝑹𝒛 𝜽𝟑 = 𝑠𝑖𝑛(𝜃3 ) 𝑐𝑜𝑠(𝜃3 ) 0
0 0 1
64

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ROBOTICS - MEC8026

PART II: INDUSTRIAL ROBOTS

PART II: 10 CREDITS / 100 HOURS

Contact Time Schedule for Part II:(approximate)

• Craig JJ ‘Introduction to Robotics’, Addison-Wesley

[1] www.ifr.org World Robotics Report 2016

1952 - John Parker developed first

1961 - George Devol developed the

1962 Unimate 1 developed -

Autonomous mobile robot – designed for use in

However, the term ‘robot’ has now come to mean

Puma 560 robot (circa

NOTE: THE STUDY OF ROBOT

• A physical quantity having only magnitude,

• 𝒙, 𝒚 = 0 ֞ 𝑥 ⊥ 𝑦 , "𝒙 𝑖𝑠 𝑜𝑟𝑡ℎ𝑜𝑔𝑜𝑛𝑎𝑙 𝑡𝑜 𝒚"

HOWEVER – the coefficients will (of course) depend nontrivially

∀𝑥, 𝑦 ∈ 𝑉, 𝐿 𝑥 + 𝑦 = 𝐿 𝑥 + 𝐿 𝑦 (𝐴𝑑𝑑𝑖𝑡𝑖𝑣𝑒 in vectors)

“A Linear Transformation maps every vector in V to a vector in V

• To be continued next week!

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