Movie Segment

The Hummingbird, IBM Watson Research Center, ICRA 1992 video proceedings

Manipulator Kinematics
Link Description Denavit-Hartenberg Notation Frame Attachment Forward Kinematics

Manipulator
Link i -1 Joint axis i -1 Joint axis i Link 1
Link n-1

End-Effector Base

Link Description
Axis (i-1) Link i-1

Axis i

Intersecting Joint Axes

Axis i Axis i-1

Axis i Axis i Axis i

i-1

ai-1

==

==
i-1

ai-1: i-1:

Link Length - mutual perpendicular unique except for parallel axis Link Twist - measured in the right-hand sense about ai-1

The sense of i-1 is free

Link Connections
Axis (i-1) Link i-1

Axis i

First & Last Links

Axis i ai ai

Axis i+1

}di
ai-1
==

i i

i-1

==

d i: Link Offset -- variable if joint i is prismatic i: Joint Angle -- variable if joint i is revolute

ai and i depend on joint axes i and i+1 Axes 1 to n: determined a1 , a2 ... a n-1 and 1, 2 ... n-1 Convention: a0 = an = 0 and 0 = n = 0

First Link
Axis 1 Axis 0 Axis 0 a0 0 0 1 a1

Axis 2

End-Efector Frame

d1 1

0n

{0}

0n+1

a0 = 0 and 0 = 0

Last Link
Axis n+1 Axis n+1 Axis n+1 Axis n Axis n-1 an-1 an

First & Last Links

Axis i ai

Axis i+1

ai-1

}d
n

}
i

di i

an = 0 and n = 0

i and di depend on links i-1 and i 2, 3, ... , n-1 and d2, d3, ... , dn-1 Convention: set the constant parameters to zero Following joint type: d1 or 1 = 0 and dn or n = 0

First Link
Axis 1 Axis 0 Axis 0 a0 0 0 1 a1

Axis 2

Last Link
Axis n+1 Axis n+1 Axis n+1 Axis n Axis n-1 an-1 an

d1 1

}d
n

d1 or 1 = 0

dn or n = 0

Denavit-Hartenberg Parameters
4 D-H parameters (i ,

Frame Attachment
Axis (i-1) Link i-1

Axis i

ai , di , i)

zi

ai

3 fixed link parameters i revolute joint 1 joint variable di prismatic joint

xi

}di

zi-1
i-1

xi-1

i and ai : describe the Link i di and i : describe the Links connection

ai-1

==

==

y-vectors: complete right-hand frames

Summary Frame Attachment

Intersecting Joint Axes

Axis I+1 Axis I+1 Axis i Axis i

xi

zi

Zi+1

zi

Zi+1

1. Normals 2. Origins

3. Z-axes 4. X-axes

xi

The sense of i is determined by the direction of x

First Link
{0} {1} Revolute z0 = z1 1 1 = 0 {1} Prismatic {0} d1 z0 = z1 a0 = 0 0 = 0 1 = 0 d1 = 0 {0} {1} a0 = 0 0 = 0 d1 = 0 {0} {1}

Last Link
Revolute

Axis n-1

Axis n

dn = 0
xn= xn-1

zn-1 xn-1

zn
n n

n = 0

Prismatic

n = 0
xn= xn-1

zn-1 xn-1

zn dn xn

dn = 0

Summary
Axis i-1

Axis i

Axis i+1

zi-1 xi-1

zi xi ai
i di i

zi+1

Example RRR Arm

L 3 3

x3 y3

i
x2
1 2 3

i-1 ai-1 di i
0 0 0 0 L1 L2 0 0 0 1 2 3

y0

ai : distance (zi , zi+1) along xi i : angle (zi , zi+1) about xi di : distance (xi-1 , xi ) along zi i : angle (xi-1 , xi ) about zi

y1

y2 x1L1

L 2 2

x0

Forward Kinematics
Axis (i-1)

Axis i
Link i

Forward Kinematics
Axis (i-1)

Axis i
Link i

Link i-1

Link i-1

z i-1
i-1
i-1 i i-1

zR z z Q P

zi

xi

ai

}d

zi z i-1
i-1

xi a i
i

}d

xi-1

a i-1

xR

xP i xQ
R Q Q P P i

xi-1

a i-1

T =

i-1

i-1 1

T=

T i (

, ai-1 , i , di ) i-1

= Rx(i-1) Dx(ai-1) Rz(i) Dz(di)

ci si ci-1 si si-1 0

-si ci ci-1 ci si-1 0

0 -si-1 ci-1 0

ai-1 -s i-1 di ci-1 di 1

Forward Kinematics
Axis (i-1)

Axis i
Link i

Link i-1

zi z i-1
i-1

xi a i
i

}d

xi-1

a i-1

Movie Segment
N-1 N

Forward Kinematics:

0 N

T =

0 1

1 2

T ...

Brachiation Robot, Nagoya University, ICRA 1993 video proceedings

Example - RPRR

z5 x5

Summary Frame Attachment

Summary
Axis i-1

Axis i

Axis i+1

zi-1 xi-1

zi xi ai
i di i

zi+1

1. Normals 2. Origins

3. Z-axes 4. X-axes

ai : distance (zi , zi+1) along xi i : angle (zi , zi+1) about xi di : distance (xi-1 , xi ) along zi i : angle (xi-1 , xi ) about zi

Example - RPRR

Example - RPRR
Z1 Z3 O3 O4 L2 x4 X2 O2 X3

L5 Z4 L4 O5

z5 x5

O0 ,O1 X1 Out
d2

Z2

z5 di
0 d2 0 L5 0

x5 i
1 2 3 4 5

i-1
0 -90 -90 90 0

ai-1
0 0 L2 0 L4

i
1 -90 3 4 0

ai : distance (zi , zi+1) along xi i : angle (zi , zi+1) about xi di : distance (xi-1 , xi ) along zi i : angle (xi-1 , xi ) about zi

Stanford Scheinman Arm

Stanford Scheinman Arm

d2 Z0 Z1 X1 X X2
0

Z2

d3 X X5 6 Z5 Z3 Z4 Z6 X3 X

Stanford Scheinman Arm

d2 Z0 Z1 d2 Z0 Y0 X0 Z6 d3 X6 Y6 X1 X X2
0

Z2

d3 X X5 6 Z5 Z3 Z4 Z6 X3 X

i
1 2 3 4 5 6

i-1 ai-1
0 -90 90 0 -90 90 0 0 0 0 0 0

di
0 d2 d3 0 0 0

i
1 2 0 4 5 6

ai : distance (zi , zi+1) along xi i : angle (zi , zi+1) about xi di : distance (xi-1 , xi ) along zi i : angle (xi-1 , xi ) about zi

Forward Kinematics
d2 Z0 Z1 X1 X X2
0

Z2

d3 X X5 6 Z5 Z3 Z4 Z6 X3 X

Axis (i-1)

Axis i
Link i

Link i-1

zi i z i-1
i-1
i-1 1T =

xi a i
i

}d

xi-1

i
1 2 3 4 5 6

i-1
0 -90 90 0 -90 90

a i-1

ai-1
0 0 0 0 0 0

di
0 d2 d3 0 0 0

1 2 0 4 5 6

ci si ci-1 si si-1 0

-si ci ci-1 ci si-1 0

0 -si-1 ci-1 0

ai-1 -s i-1 di ci-1 di 1

Stanford Scheinman Arm

i
1 2 3 4 5 6

i-1
0 -90 90 0 -90 90

ai-1
0 0 0 0 0 0 -si ci ci-1 ci si-1 0

di
0 d2 d3 0 0 0

1 2 0 4 5 6

ci si ci-1 si si-1 0

0 i-1 -si-1 -s i-1 di ci-1 ci-1 di 0 1

LMc s s c T=M MM 0 0 N0 0 LM c s 0 0 T=M MMs c a N0 0

1 0 1 1 1

0 0 1 0

1 2

0 1 0 0

2 3

LM1 0 T=M MM0 N0

0 1 0

0 0 0

0 1

O d P P 0 P 1 P Q
0
3

OP PP PQ O d P P 0P 1P Q
0 0 0 1 0
2

3 4

LMc s T=M MM 0 N0

s4 c4 0 0

4 5

OP P 1 0P 0 1P Q LM c 0 T=M MMs N0
0 0 0 0

s5 0 c5 0

0 0 1 0 0 0

5 6

LMc 0 T=M MMs N0

OP P 0P 1P Q
6 6

s6 0 c6 0

0 0 1 0 0 0

OP P 0P 1P Q

Forward Kinematics
Axis (i-1)

Axis i
Link i

0 1

Link i-1

zi z i-1
i-1

xi a i
i

}d

xi-1

0 2

a i-1

LMc c sc T=M MM s N0
0 3

LMc s T=M MM 0 N0

s1 c1 0 0

0 0 0 0 1 0

1 2

c1 s2 s1 s 2 c2 0
1 2

OP P 0P 1P Q

s1 c1 0 0

s1 d 2 c1 d 2 0 1

1 2 2

Forward Kinematics:

NT =

T 1

T ... 2

N-1

T N

LMc c sc T=M MM s N0

1 2 2

s1 c1 0 0

OP PP PQ

c1 s 2 s1 s2 c2 0

c1 d 3 s 2 s1 d 2 s1 d 3 s2 + c1 d 2 d3 c2 1

OP PP PQ

0 6

LM T=M MM X N0 LM X X X X T=M MM X X N0 0
0 5

c1c2c4 s1s4 c1c2 s4 s1c4 c1s2 c1d3s2 s1d2 s c c + c s s c s + c c s s s d s + c d 1 2 4 1 4 1 2 1 3 2 1 2 0 12 4 14 4T = s2c4 s2 s4 c2 d3c2 0 0 0 1

0 6

X X

X X X 0

c1 c2 s 4 s1 c 4 s1 c2 s 4 + c1 c 4 s2 s 4 0

c1 d 3 s 2 s1 d 2 s1 d 3 s 2 + c1 d 2 d3 c2 1

OP PP PQ

LMX X cc c s ss s +cs s X X sc c s +cs s +ss c T =M MMX X s c s +cc 0 N0 0

1 2 4 5 14 5 1 2 4 5 14 5 2 4 5 5 2

12 5

cds2 sd2 1 3 1 sds2 +cd2 1 3 1 dc2 3 1

12 5

OP PP PQ

d2

Z0

d3 Y0 X0 Z6 X6 Y6

C 1 S 2 d 3 S1 d 2 S1 S 2 d 3 + C 1 d 2

c1c 2 c 4 s 5 s1 s 4 s 5 + c1 s 2 s 5 s1c 2 c 4 s 5 + c1 s 4 s 5 + s1 s 2 c 5 s 2 c 4 s5 + c5 c2 0

c1 d 3 s 2 s1 d 2 s1 d 3 s 2 + c1 d 2 d3 c2 1

OP PP PQ

xP r1 x = r2 = r3

C2 d3
C 1 [ C 2 ( C 4 C 5 C 6 S 4 S 6 ) S 2 S 5 C 6 ] S1 ( S 4 C 5 C 6 + C 4 S 6 ) S1 [ C 2 ( C 4 C 5 C 6 S 4 S 6 ) S 2 S 5 C 6 ] + C 1 ( S 4 C 5 C 6 + C 4 S 6 ) S2 (C 4 C 5 C 6 S4 S6 ) C 2 S5 C 6 C 1 [ C 2 ( C 4 C 5 S 6 + S 4 C 6 ) + S 2 S 5 S 6 ] S1 ( S 4 C 5 S 6 + C 4 C 6 ) S1 [ C 2 ( C 4 C 5 S 6 + S 4 C 6 ) + S 2 S 5 S 6 ] + C 1 ( S 4 C 5 S 6 + C 4 C 6 ) S2 (C 4 C 5 S6 + S 4 C 6 ) + C 2 S5 S6

C1 ( C 2 C 4 S 5 + S 2 C 5 ) S1 S 4 S 5 S1 ( C 2 C 4 S 5 + S 2 C 5 ) + C 1 S 4 S 5 S2 C 4 S5 + C 2 C 5