Scribd
Upload
1K views

Chapter 4 - Robot Kinematics

This document discusses robot kinematics and provides examples. It defines kinematics as the study of object movement without regard to forces or mass. Degrees of freedom refer to the number of independent variables needed to define an object's position and orientation. A 6 DOF robot arm can move in any direction in 3D space. The document explains forward and inverse kinematics, where forward kinematics determines the end position from joint angles and inverse kinematics determines the joint angles for a given end position. It also discusses robot links, joints, and the Denavit-Hartenberg parameters used to define the relationship between links.

Uploaded by

teamehadush
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
1K views

Chapter 4 - Robot Kinematics

This document discusses robot kinematics and provides examples. It defines kinematics as the study of object movement without regard to forces or mass. Degrees of freedom refer to the number of independent variables needed to define an object's position and orientation. A 6 DOF robot arm can move in any direction in 3D space. The document explains forward and inverse kinematics, where forward kinematics determines the end position from joint angles and inverse kinematics determines the joint angles for a given end position. It also discusses robot links, joints, and the Denavit-Hartenberg parameters used to define the relationship between links.

Uploaded by

teamehadush
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 38

Chapter 4 - Robot Kinematics

Overview
Kinematics
Kinematics is the relationships between the
positions, velocities and accelerations of the
links of manipulator, where a manipulator is an
arm, finger (or) leg

Kinematics
The study of object movements irrespective
of their speed or style of movement

Degrees of Freedom
(DOFs)
The variables that affect an objects
orientation
How many degrees of
freedom when flying?
So the kinematics
of this airplane
permit movement
anywhere in three
dimensions

Six
x, y, and z positions
roll, pitch, and yaw
4

Degrees of Freedom
How about this robot arm?

Six again
2-base, 1-shoulder, 1-elbow, 2-wrist
5

Configuration Space
The set of all possible positions (defined
by kinematics) an object can attain

Work Space vs. Configuration Space


Work space
The space in which the object exists
Dimensionality

Configuration space
The space that defines the possible object configurations
Degrees of Freedom

More examples
A point on a plane
A point in space
A point moving on a
line in space

Controlled DOFs
DOFs that you can actually control (position
explicitly)

Robot Parts/Terms

Links
End effector
Frame
Revolute Joint
Prismatic Joint

10

More Complex Joints


3 DOF joints
Gimbal
Spherical

2 DOF joints
Universal

11

Manipulator Kinematics

Link Description
Link Connection
Convention for affixing to Links
Joint Space

12

Degrees of Freedom
The degrees of freedom of a rigid body is defined as
the number of independent movements it has.
The number of :
Independent position
variables needed to locate all
parts of the mechanism,
Different ways in which a
robot arm can move,
Joints
13

DOF of a Rigid Body


In a plane

In space

14

Degrees of Freedom
3D Space = 6 DOF

3 position
3 orientation
In robotics:

DOF = number of independently driven joints

As DOF

positioning accuracy
computational complexity
cost
flexibility
power transmission is
more difficult

15

Robot Links and Joints


A manipulator may be thought of as a set of
bodies (links) connected in a chain by joints.

In open kinematics chains (i.e. Industrial Manipulators):

{No of D.O.F. = No of Joints}


16

Lower Pair
The connection between a pair of bodies
when the relative motion is characterized by
two surfaces sliding over one another

17

The Six Possible Lower Pair Joints

18

Higher Pair
A higher pair joint is one which contact
occurs only at isolated points or along a
line segments

19

Robot Joints
Revolute Joint
1 DOF ( Variable - q)

Spherical Joint
3 DOF ( Variables - q 1, q 2, q 3)

Prismatic Joint
1 DOF (linear) (Variables - d)
20

Robot Specifications
Number of axes
Major axes => position the
wrist
Minor axes => orient the
tool
Redundant=> reaching
around obstacles, avoiding
undesirable configuration

21

An Example - The PUMA 560


2

The PUMA 560 has SIX revolute joints.


A revolute joint has ONE degree of freedom
( 1 DOF) that is defined by its angle.

There are two more joints on the


end-effector (the gripper)
22

Link
A link is considered as a rigid body which defines
the relationship between two neighboring joint
axes of a manipulator.
zzn
n+1

zn

an

qn

q n+1

x n+1
xn

xn
Link n
Joint n+1
Joint n
23

The Kinematics Function of a Link


The kinematics
function of a link is to
maintain a fixed
relationship between
the two joint axes it
supports.
This relationship can be
described with two
parameters: the link
length a, the link twist
a
24

Link Length
Is measured along a line which is mutually
perpendicular to both axes.
The mutually perpendicular always exists and
is unique except when both axes are parallel.

25

Link twist
Project both axes i-1 and i onto the plane
whose normal is the mutually perpendicular
line, and measure the angle between them
Right-hand sense

26

Link Length and Twist


Axis i

Axis i-1

ai-1
27

Joint Parameters
A joint axis is established at the connection of two links. This
joint will have two normals connected to it one for each of
the links.
The relative position of two links is called link offset dn
whish is the distance between the links (the displacement,
along the joint axes between the links).
The joint angle qn between the normals is measured in a
plane normal to the joint axis.
28

Link and Joint Parameters


Axis i
Axis i-1

qi

ai-1

di

29

Link and Joint Parameters


4 parameters are associated with each link. You can
align the two axis using these parameters.
Link parameters:
an
the length of the link.
an
the twist angle between the joint axes.
Joint parameters:
qn the angle between the links.
dn
the distance between the links

30

Link Connection Description:


For Revolute Joints: a, a, and d.
are all fixed, then qi is the.
Joint Variable.

For Prismatic Joints: a, a, and q.


are all fixed, then di is the.
Joint Variable.
These four parameters: (Link-Length ai-1), (Link-Twist ai-1(, (Link-Offset di), (JointAngle qi) are known as the Denavit-Hartenberg Link Parameters.

31

Links Numbering Convention


Base of the arm: Link-0
1st moving link: Link-1
.
.
.
.
.
.
Last moving link Link-n

Link 2

Link 1

3 Link 3

Link 0

A 3-DOF Manipulator Arm


32

First and Last Links in the Chain


a0= an=0.0
a0= an=0.0

If joint 1 is revolute: d0= 0 and q1 is arbitrary


If joint 1 is prismatic: d0= arbitrary and q1 = 0

33

We are interested in two kinematics topics


Forward Kinematics (angles to position)
What you are given: The length of each link
The angle of each joint
What you can find:

The position of any point


(i.e. its (x, y, z) coordinates

Inverse Kinematics (position to angles)


What you are given:

The length of each link


The position of some point on the robot

What you can find:

The angles of each joint needed to obtain


that position
34

Forward vs. Inverse Kinematics


Forward Kinematics
Compute configuration (pose) given individual
DOF values

Inverse Kinematics
Compute individual DOF values that result in
specified end effectors position

35

Forward Kinematics
Traverse kinematic tree and propagate
transformations downward
Use stack
Compose parent transformation with
childs
Pop stack when leaf is reached

High DOF models are tedious to control


this way

36

Direct & inverse kinematics of


manipulators
What are we trying to do ? (direct)
???
Go right
!!!

37

Direct & inverse kinematics of


manipulators
What are we trying to do ? (inverse)
???
Take the
ball !!!

38

You might also like