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AI Tutorial 4

The document provides detailed explanations of key concepts in robotic kinematics, including transformation matrices, Denavit-Hartenberg parameters, and trajectory planning. It also includes examples of forward and inverse kinematics for a 2-link manipulator, detailing calculations for end-effector positions and joint angles. The information is structured in a question-and-answer format, making it accessible for understanding robotic motion analysis.

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tusharsolanki0630
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AI Tutorial 4

The document provides detailed explanations of key concepts in robotic kinematics, including transformation matrices, Denavit-Hartenberg parameters, and trajectory planning. It also includes examples of forward and inverse kinematics for a 2-link manipulator, detailing calculations for end-effector positions and joint angles. The information is structured in a question-and-answer format, making it accessible for understanding robotic motion analysis.

Uploaded by

tusharsolanki0630
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Here are detailed answers for each question from Tutorial 4: Kinematics based on the image

you uploaded:

1. Explain transformation matrices in robotic kinematics.

Transformation matrices are used in robotic kinematics to represent the position and
orientation of one coordinate frame relative to another. These matrices are fundamental in
expressing the spatial relationship between various parts of a robot (e.g., base, joints, end-
effector). A typical transformation matrix is a 4x4 homogeneous matrix that combines
rotation and translation:

T=[Rd01]T = \begin{bmatrix} R & d \\ 0 & 1 \end{bmatrix}

Where:

• RR is a 3×3 rotation matrix that defines orientation.


• dd is a 3×1 position vector that defines translation.
• The last row [0 0 0 1][0\ 0\ 0\ 1] allows for affine transformations.

In forward kinematics, transformation matrices are used to compute the end-effector position
given the joint variables. In inverse kinematics, they are used to determine joint variables
from the desired end-effector pose.

2. What are Denavit-Hartenberg parameters?

The Denavit-Hartenberg (DH) parameters are a standardized way to represent the


geometry of robot manipulators using four parameters for each link:

1. θ (theta) – Joint angle (rotation about the Z-axis)


2. d – Link offset (translation along the Z-axis)
3. a – Link length (translation along the X-axis)
4. α (alpha) – Link twist (rotation about the X-axis)

Using these parameters, a transformation matrix for each joint is constructed. This matrix
captures both rotation and translation from one link to the next. The full kinematic model is
obtained by multiplying these matrices sequentially.

The general DH transformation matrix is:

Tii−1=[cos⁡θi−sin⁡θicos⁡αisin⁡θisin⁡αiaicos⁡θisin⁡θicos⁡θicos⁡αi−cos⁡θisin⁡αi
aisin⁡θi0sin⁡αicos⁡αidi0001]T_i^{i-1} = \begin{bmatrix} \cos \theta_i & -\sin \theta_i
\cos \alpha_i & \sin \theta_i \sin \alpha_i & a_i \cos \theta_i \\ \sin \theta_i & \cos
\theta_i \cos \alpha_i & -\cos \theta_i \sin \alpha_i & a_i \sin \theta_i \\ 0 & \sin \alpha_i
& \cos \alpha_i & d_i \\ 0 & 0 & 0 & 1 \end{bmatrix}
3. How is trajectory planning performed?

Trajectory planning in robotics is the process of defining the motion of a robot from its
initial position to the final position while satisfying constraints like velocity, acceleration, and
jerk limits.

Types of trajectory planning:

• Joint Space Trajectory: Plans motion in terms of joint angles.


• Task Space Trajectory: Plans motion in Cartesian coordinates (x, y, z).

Steps involved:

1. Define Initial and Final States: Position, velocity, and acceleration.


2. Select a Trajectory Model:
o Polynomial (cubic or quintic)
o Trapezoidal velocity profile
3. Compute Intermediate Points: For smooth transition.
4. Ensure Constraints: Obstacle avoidance, joint limits, smoothness.
5. Simulate and Optimize: Validate feasibility and optimize for energy/time.

4. Solve a problem involving direct kinematics.

Example: Consider a 2-link planar manipulator with:

• Link 1 length L1=1L_1 = 1 m


• Link 2 length L2=0.5L_2 = 0.5 m
• Joint angles: θ1=45∘\theta_1 = 45^\circ, θ2=30∘\theta_2 = 30^\circ

Solution (Forward Kinematics):

1. Convert angles to radians:


o θ1=π4\theta_1 = \frac{\pi}{4}
o θ2=π6\theta_2 = \frac{\pi}{6}
2. End-effector position (x, y):

x=L1cos⁡θ1+L2cos⁡(θ1+θ2)x = L_1 \cos \theta_1 + L_2 \cos(\theta_1 + \theta_2)


y=L1sin⁡θ1+L2sin⁡(θ1+θ2)y = L_1 \sin \theta_1 + L_2 \sin(\theta_1 + \theta_2)

3. Calculations:

x=1⋅cos⁡(π4)+0.5⋅cos⁡(π4+π6)=0.707+0.5⋅cos⁡(1.309)≈0.707+0.5⋅0.2588=0.707+0.12
94=0.8364 mx = 1 \cdot \cos(\frac{\pi}{4}) + 0.5 \cdot \cos(\frac{\pi}{4} + \frac{\pi}{6}) =
0.707 + 0.5 \cdot \cos(1.309) \approx 0.707 + 0.5 \cdot 0.2588 = 0.707 + 0.1294 = 0.8364
\text{ m}
y=1⋅sin⁡(π4)+0.5⋅sin⁡(π4+π6)=0.707+0.5⋅sin⁡(1.309)≈0.707+0.5⋅0.9659=0.707+0.482
9=1.1899 my = 1 \cdot \sin(\frac{\pi}{4}) + 0.5 \cdot \sin(\frac{\pi}{4} + \frac{\pi}{6}) =
0.707 + 0.5 \cdot \sin(1.309) \approx 0.707 + 0.5 \cdot 0.9659 = 0.707 + 0.4829 = 1.1899
\text{ m}

End-effector position: (0.8364 m, 1.1899 m)

5. Calculate joint angles for a 2-DOF robotic arm.

Given: End-effector position (x, y), link lengths L1L_1, L2L_2

Let:

• x=1x = 1 m, y=1y = 1 m
• L1=1L_1 = 1 m, L2=1L_2 = 1 m

Use Inverse Kinematics:

1. Compute:

r=x2+y2=12+12=2≈1.414r = \sqrt{x^2 + y^2} = \sqrt{1^2 + 1^2} = \sqrt{2} \approx 1.414

2. Use cosine law:

cos⁡θ2=x2+y2−L12−L222L1L2=2−1−12⋅1⋅1=0⇒θ2=cos⁡−1(0)=90∘\cos \theta_2 =
\frac{x^2 + y^2 - L_1^2 - L_2^2}{2L_1L_2} = \frac{2 - 1 - 1}{2 \cdot 1 \cdot 1} = 0
\Rightarrow \theta_2 = \cos^{-1}(0) = 90^\circ

3. Solve for θ1\theta_1:

θ1=tan⁡−1(y/x)−tan⁡−1(L2sin⁡θ2L1+L2cos⁡θ2)\theta_1 = \tan^{-1}(y/x) - \tan^{-


1}\left(\frac{L_2 \sin \theta_2}{L_1 + L_2 \cos \theta_2}\right)
=tan⁡−1(1)−tan⁡−1(1⋅11+1⋅0)=45∘−tan⁡−1(1)=45∘−45∘=0∘= \tan^{-1}(1) - \tan^{-
1}\left(\frac{1 \cdot 1}{1 + 1 \cdot 0}\right) = 45^\circ - \tan^{-1}(1) = 45^\circ - 45^\circ =
0^\circ

Joint Angles:

• θ1=0∘\theta_1 = 0^\circ
• θ2=90∘\theta_2 = 90^\circ
Let me know if you want graphical illustrations or step-by-step plots for any problem.

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