Robot Kinematics

Robot Dynamics
Trajectory Planning

Prof . Charlton S. Inao

Defence University
College of Engineering
Bishoftu, Ethiopia
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 CHAPTER 6
week 15
Robot Kinematics

Forward Kinematics
 Inverse Kinematics
 Denavit- Hartenberg (D-H)
Notation

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 Manipulator
Manipulator- set of links connected by joints
Joint/s= the one that connect two links; no. of joint = no of dof
Link- is a rigid body that is connected thru joint
End effector=>also called tool, hand or wrist point
DOF= degree of mobility, freedom to move
Kinematics-the study of robots position ,orientation , that is, of its
joints and links to locate the end effector.

Prismatic joint

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Robot Kinematics and Motion Analysis
In order to control and program a robot we must have
knowledge of both it’s spatial arrangement and a means
of reference to the environment

• Kinematics - the analytical study of the geometry of

motion of a robot arm:
– with respect to a fixed reference coordinate system
(world or base frame)
– without regard to the forces or moments that cause
the motion
• Kinematics = the study of motion
– The kinematic state of a robot is the position of each
of its joints
Using kinematics to describe the spatial configuration of
a robot gives us two approaches:

• Forward Kinematics. (direct)

– Given the joint variables for the robot, what is the
orientation and position of the end effector?
– E.g., (x, y, z) coordinate of end effector

• Inverse Kinematics. (backward)

– Calculate joint variables if we want the end effector to
be located at a particular place, e.g., (x, y, z) coordinate
– This is an important means used to control robots to
achieve particular goals
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. it’s (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
 Review Question
• Determine the position of the end effector if
of the robot configuration below?

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Denavit-Hartenberg (DH) Representation of Forward
Kinematic Equations of Robots

• May be used for any configuration, whether specific

coordinates or not.
• Can include joint offset, twist angles, multi-variable
joints, and so on.
• Very common.
• Many other equations are based on this methodology
 Summary of Frame Attachment for DH
Notation
1. Take or identify the common normal of the
joint motion axes
2. Connect and identify the origin to the
previous motion axis
3. Identify the Z axis of the frame( motion axis)
4. Identify the X- axis of the frame.
(perpendicular to z axis , along which ai( link
length is measured).
Summary of Frame Assignment
D-H Representation

DH Parameter Table
 D-H Representation
• Z-axes along the joint motion.
• θ represents joint rotation.
• D is joint linear displacement or distance
between common normals.
• α is the twist angle between z-axes.
• a is the length of the common normal.
 D-H Representation

• Assign z-axes to each joint along linear motion or revolute axis.

• Assign x-axes along the common normal between successive z-
axes.
• No need for y-axes.
• If z-axes coincide, x-axis is perpendicular to both.
• If z-axes are parallel, x-axes can be anywhere.
 D-H Representation
• Four transformations are necessary to go from one frame to the
next:
Frame to Frame Transformation
 Robot
Dynamics
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 Dynamic Analysis and Forces
The dynamics, related with accelerations, loads, masses and in-
ertias.
__ __ __ __

 F m a  T I 

In Actuators…….
The actuator can be accelerate a robot’s links for exerting enough
forces and torques at a desired acceleration and velocity.
By the dynamic relationships that govern the motions of the robot,
considering the external loads, the designer can calculate the neces-
sary forces and torques.
 Continued…
Mathematical equations describing the dynamic
behavior of the manipulator
For computer simulation
Design of suitable controller
Evaluation of robot structure
Joint torques Robot motion, i.e. acceleration,
velocity, position

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 Continued…
Lagrange-Euler Formulation
d L L
( )  i
dt q i qi
Lagrange function is defined
L K  P
• K: Total kinetic energy of robot
• P: Total potential energy of robot
• qi: Joint variable of i-th joint
• q i: first time derivative of qi
•  i : Generalized force (torque) at i-th joint

19
 Continued…
Kinetic energy
1 2
Single particle: k  mv
2
Rigid body in 3-D space with linear velocity (V) , and
angular velocity ( ) about the center of mass
1 1 T
k  mV V  I 
T

2 2
 ( y 2  z 2 )dm 
 xydm xzdm
 

I   xydm ( x  z )dm
2 2
 yzdm 
 
  xzdm  yzdm 
2 2
( x  y ) dm 
I : Inertia Tensor:
Diagonal terms: moments of inertia I xx ( y 2  z 2 )dm
Off-diagonal terms: products of inertia I xy ( xy )dm
20
 Example-1
Derive the force-acceleration relationship for the one-degree
of freedom system.

Solution

1 2 1 2 1 1 2 1 2
K  mv  m x , P  kx 2 L K  P  m x  kx
2 2 2 2 2
Lagrangian mechanics Newtonian mechanics
__ __
L d .. .. L
m x, (m x ) m x,  kx
 F m a
.
 xi dt x
.. F  kx ma  F ma  kx
F m x  kx
 Example-2
Derive the equations of motion for the two-degree of freedom system.

In this system…….
 It requires two coordinates, x and .
 It requires two equations of motion:
1. The linear motion of the system.
2. The rotation of the pendulum.

 m1  m2 m2l cos    x   0 m2l sin   x 2   kx 


.. .
F
T     ..      .   
  m
 2 l cos  m 2 l 2
    0 0  
    2
2 m gl sin  
 TRAJECTORY
PLANNING

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 Introduction

• In this chapter we discuss the joint-space and Cartesian-

space trajectory planning.
• We also discuss the methods that can be used for
achieving desired velocity and accelerations limits and
maximum values .

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 Introduction

 Path and trajectory planning means the way that a

robot is moved from one location to another in a
controlled manner.
· The sequence of movements for a controlled
movement between motion segment, in straight-line
motion or in sequential motions
 It requires the use of both kinematics and dynamics
of robots.

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 Path versus Trajectory

• A path is the collection of positions and orientations that a

robot (or its joints) goes through between different
locations.
• A trajectory is the time history of the locations and
orientations that the robot (or its joints) goes through
between different points.
• A trajectory in the time history of a path; therefore, it
includes how the joint values change in time.
• Time history of position, velocity and acceleration
for each DOF.

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 Trajectory Planning in Joint-Space

• It is more desirable and more practical to plan a trajectory

in joint-space.
• We will use the joint-space trajectories to create a motion
that is specified in Cartesian-space.
• In joint-space trajectory planning, it is the motions of each
individual joint that is planned based on some regime
(higher-order polynomials, controlled acceleration limits,
blended motions, and so on).
• Each joint’s motion is planned individually based on the
values calculated from the inverse kinematic equations.

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 Third-Order Polynomial Trajectory Planning

• Initial and final positions and velocities are known; 4

values
 (ti ) i  (t f )  f Angular position
(ti ) 0  (t f ) 0 Angular velocity

• 4 unknowns may be calculated; therefore, a third-order

polynomial.
 (t ) c0  c1t  c2t  c3t
2 3

 (t ) c1  2c2t  3c3t 2

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 Third-Order Polynomial Trajectory Planning: Cont.

• Substitute the initial and final conditions into these equations to get:

 (ti ) c0  i
 (t f ) c0  c1t f  c2t f 2  c3t f 3
 (ti ) c1 0
 (t f ) c1  2c2t f  3c3t f 2 0
• Or in matrix form:
 i   1 0 0 0   c0 
    0 1 0 0   c1 
 i    
 f   1 t f tf 2 t f   c2 
3

    
  f   0 1 2t f 3t f 2   c3 

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 Solved Problems
Problem #1
It is desired to have the first joint of a six axis
robot go from an initial angle of 50° to a final
angle of 80° in three(3) seconds. Calculate the
coefficients for a third order polynomial joint
space trajectory. Determine the joint angles,
velocities and accelerations at 1, 2, and 3
seconds. It is assumed that the robot starts
from rest and stops at its destination.

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 GIVEN/KNOWN DATA
• Initial angle position
 (ti ) i 50
°
• Final angle position
 (t f )  f 80 °
• Third order polynomial joint space trajectory
• Initial velocity=0
• Final velocity=0

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 Required:
• Joint angles
• Joint Velocities
• Acceleration at 1,2 and 3 seconds
Solution:
 For a third order polynomial
 (t ) c0  c1t  c2t  c3t 2 3


 (t ) c1  2c2t  3c3t 2

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 Substituting boundary conditions
INITIAL POSITION/DISPLACEMENT

@t=0
 (t ) c0  c1t  c2t  c3t 2 3
INITIAL VELOCITY

 (ti )  i 50 c 0
@t=0

 (t ) c1  2c2t  3c3t 2

0 c1  0  0
0  c1
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 Cont…
• FINAL POSITION/DISPLACEMENT @ 3 SEC

 (t ) c0  c1t  c2t  c3t 2 3

f (t ) 50  c1 3  c2 3  c3 3 2 3

80  50  3c1  9c2  27c3

80  50  3(0)  9c2  27c3
80  50  9c2  27c3
30  9c2  27c3
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 • FINAL VELOCITY @ 3 SEC


 (t ) c1  2c2 t  3c3t 2

0 c1  2c2 (3)  3c3 (3) 2

0  ( f )  c1  6c2  27c3


0  ( f )  0  6c  27c 2 3

0  ( f )  6c 2  27c3
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 Solution

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 Summary of results/answers

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 Problem #2
Assignment for submission
It is desired to have the third joint of a 6-axis
robot go from an initial angle of 20 ° to a
final angle of 80° in 4 seconds. Calculate the
coefficients for a third-order polynomial
joint-space trajectory and plot the joint angles,
velocities, and accelerations. The robot
starts from rest, but should have a final velocity
of 5 °/sec.

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 Solution #2
Order of
polynomial

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 Solution #2 cont..

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 Plot of position, velocity & acceleration

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 Third-Order Polynomial Trajectory Planning: Cont.

• From the inverse kinematic equations the boundary values

are determined.
• Each joint is driven based on the third-order polynomial.
• The resulting motion follows the desired trajectory.

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 Fifth-Order Polynomial Trajectory Planning

• Initial and final positions, velocities, and accelerations are

known; 6 values
• 6 unknowns may be calculated; therefore, a fifth-order
polynomial.

 (t ) c0  c1t  c2t 2  c3t 3  c4t 4  c5t 5 distance

 (t ) c1  2c2t  3c3t 2  4c4t 3  5c5t 4 velocity

(t ) 2c2  6c3t  12c4t 2  20c5t 3 acceleration

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 Fifth-Order Polynomial Trajectory Planning: Cont.

• Substitute the initial and final conditions into these

equations and solve for the constants.
• Use the equation to run each joint based on the data
calculated from the inverse kinematic equations.

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 Assignment
• A fifth order polynomial is to be used to
control the motions of the joints of a robot in
joint space. Find the coefficients of the fifth-
order polynomial that will follow a joint to go
from an initial angle of 0° to a final joint angle
of 75° in 3 seconds , while the initial and final
velocities are zero, and initial acceleration and
final decelerations are 10°/sec2 .

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 Answer

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