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L6-8 - Forward Kinemetics - Revised PDF

Here are the steps to solve this problem: 1) Assign link frames {0}, {1}, {2}, {3} to the robot with the following conventions: - Frame {0} is fixed to the base. - Frame {i} is attached to link i with the Z-axis coinciding with joint i axis. - X-axis points along the link in the direction from joint i to i+1. 2) Sketch the robot showing the link frames attached according to the above conventions. 3) The transformation from frame {i-1} to frame {i} is given by the homogeneous transformation matrix: Ti-1i = Trans(di)

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Anirudh Goyal
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69 views34 pages

L6-8 - Forward Kinemetics - Revised PDF

Here are the steps to solve this problem: 1) Assign link frames {0}, {1}, {2}, {3} to the robot with the following conventions: - Frame {0} is fixed to the base. - Frame {i} is attached to link i with the Z-axis coinciding with joint i axis. - X-axis points along the link in the direction from joint i to i+1. 2) Sketch the robot showing the link frames attached according to the above conventions. 3) The transformation from frame {i-1} to frame {i} is given by the homogeneous transformation matrix: Ti-1i = Trans(di)

Uploaded by

Anirudh Goyal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Location of any point in the world or universe

reference frame {A}:

position vector
Frame rotation
Rotational mapping

The original vector P is not changed in space. Rather, we compute


a new description of the vector relative to another frame.
rotation matrix
Frame rotation
Rotate frame {B} relative to frame {A} about Z by 30 degrees. Find the operator matrix and
the position vector [0 2 0] in rotated frame of reference {A}.
Frame rotation
Rotate frame {B} relative to frame {A} about Z by 30 degrees. Find the operator matrix and
the position vector [0 2 0] in rotated frame of reference {A}.
Frame translation

Translation mapping
Frame: A set of four vectors carrying position and orientation information.
It is described by: = {rotation matrix, position vector of frame origin}

A frame is assigned at each of the joints.

Note: Frame is a coordinate system where, in addition to the


orientation, we give a position vector which locates its origin
relative to some other embedding frame (universal/world/space).
Frame transformation

Frame transformation = frame rotation + frame translation

is a homogeneous transformation matrix


Homogeneous transformation matrix
Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {B} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].
Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {A} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].
Frame transformation
Rotate frame {B} relative to frame {A} about Z by 30 degrees, translate the origin of frame {A} by
10 units in XA, and translate 5 units in YA. Find Ap, where Bp = [3 7 0].

=?
Inverting a transformation
Link description
Link and joint:

Joint axis (i):

Length of link (ai):

Angle of twist (i):

Offset of link (di):

Joint angle (i):


Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,


coincides with the joint axis i.

X-axis: For frame {i}, called Xi points


along ai in the direction from joint i
to joint i + 1.
Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,


coincides with the joint axis i.

X-axis: For frame {i}, called Xi points


along ai in the direction from joint i
to joint i + 1.
Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,


coincides with the joint axis i.

X-axis: X1 points along a1 in the


direction from joint i to joint i + 1.
Frame assignment to each link
Frame assignment to each link
DH parameter table
Forward kinematics
Forward kinematics
Forward kinematics
DH parameter table?
How to determine transformation matrix of i w.r.t. i-1.
How to determine transformation matrix of i w.r.t. i-1.
EXAMPLES OF TWO KINEMATICS OF TWO INDUSTRIAL ROBOTS
Q: Imagine an arm like the PUMA manipulator, except that joint 3 is replaced with a prismatic joint.
Assume the prismatic joint slides along the direction of X1; however, there is still an offset equivalent
to d3 to be accounted for. Make any additional assumptions needed. Derive the kinematic equations..
Q: Derive link parameters and the kinematic equations for BTW. Note that no l3 need be defined.
Q: The arm with three degrees of freedom shown in the given Figure has joints 1 and 2 perpendicular
and joints 2 and 3 parallel. As pictured, all joints are at their zero location. Note that the positive sense
of the joint angle is indicated. Assign link frames {0} through {3} for this arm—that is, sketch the arm,
showing the attachment of the frames. Then derive the transformation matrices.
Q: Show the attachment of link frames on the three-link robot shown in the given Figures.

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