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Direction Cosine Matrix (DCM)

This document discusses direction cosine matrices and Euler angles as representations of rotational transformations, and their applications and characteristics. It also covers the Denavit-Hartenberg convention for assigning reference frames to robotic links to define the kinematics and geometry of serial manipulators like the PUMA 500 robot. Key steps include identifying joint axes, assigning frames along axes with specified distances and angles, and using the resulting link parameters to calculate the homogeneous transformation between frames.

Uploaded by

Muhammad Abdullah
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
911 views

Direction Cosine Matrix (DCM)

This document discusses direction cosine matrices and Euler angles as representations of rotational transformations, and their applications and characteristics. It also covers the Denavit-Hartenberg convention for assigning reference frames to robotic links to define the kinematics and geometry of serial manipulators like the PUMA 500 robot. Key steps include identifying joint axes, assigning frames along axes with specified distances and angles, and using the resulting link parameters to calculate the homogeneous transformation between frames.

Uploaded by

Muhammad Abdullah
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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DIRECTION COSINE MATRIX (DCM)

b3 a3 b2

a2 a1 b1

ELEMENTARY ROTATIONS

ROTATION ORDER

TRANSPORT THEOREM

UA

EULER ANGLES (BODY FIXED 3-2-1)

EULER ANGLE REPRESENTATIONS

Euler Eigen Axis

Rotation Representations
Representation Par. Characteristics

Applications
Analytical studies

Direction Cosine 9 matrix

Nonsingular Intuitive Six redundant parameters Minimal set Clear physical representation Trigonometric functions in rotation matrix Singular

Euler Angles

Analytical studies

Euler Angle Kinematics (3-2-1)


c3 d3

D!C
d2 c2

c3

b3

C!B

a3

B!A

3
b2

3
b2 a2 a1

1 1
c1

b1

c1

b1

Example
Transformation 0 &R P1org # 01 T ! 01 = $ matrix: 1 " $ 0 ! %
&cos(30) sin(30) $ sin(30) cos(30) =$ $ 0 0 $ 0 0 %
0
1y 1p

0 7# ! 0 5! 1 0! ! 0 1"

1x 0y 0

0p

1org

P = T011P

PUMA 500

Denavit-Hartenberg Frame Attachment


Frame attachment 1. Identify joint axis 2. Identify common perpendicular 3. Assign zi pointing along i-th joint axis 4. Assign xi pointing along common perpendicular 5. Assign yi to complete frame 6. Assign frame {0} (base) Link parameters ai=dist(zi, zi+1) along xi i=ang(zi, zi+1) about xi di=dist(xi-1, xi ) along zi i=ang(xi-1, xi) along zi

PUMA industrial robot with 6 revolute joints

axis i-1

axis i

link i-1

link i-2

zi-1 yi-1 xi-1 ai-1

yi

zi xi di

i-1

ai=dist(zi, zi+1) along xi i=ang(zi, zi+1) about xi di=dist(xi-1, xi ) along zi i=ang(xi-1, xi) along zi

Denavit-Hartenberg Link Parameters


axis i-1 link i-1

axis i

link i-2

zi-1 yi-1 xi-1 ai-1

yi

zi xi di

i-1

Transformation
Translate di Rotate !i Translate ai -1 Rotate "i -1
cos!i cos"i-1 sin!i sin"i-1 sin!i 0

along the about the along the about the

zi zi xi -1 xi -1

i-1T i

- sin!i 0 ai-1 cos"i-1cos!i - sin"i-1 - di sin"i-1 sin"i-1cos!i cos"i-1 dicos"i-1 0 0 1

DH frame assignment for the PUMA robot

Transformation
Rotate i-1 about xi-1 Translate ai-1 along xi-1 Rotate i about zi-1 Translate di along zi-1

Puma robot example - 2

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