Introduction to ROBOTICS

Kinematics of Robot Manipulator

Jizhong Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu

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Outline
Review

Robot Manipulators
Robot Configuration
Robot Specification
Number of Axes, DOF
Precision, Repeatability

Kinematics
Preliminary
World frame, joint frame, end-effector frame
Rotation Matrix, composite rotation matrix
Homogeneous Matrix

Direct kinematics
Denavit-Hartenberg Representation
Examples

Inverse kinematics

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Review
What is a robot?
By general agreement a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creatureusually a human.

To qualify as a robot, a machine must be able to:

1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physicalsuch as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings

Why use robots?

Perform 4A tasks in 4D environments
4A: Automation, Augmentation, Assistance, Autonomous
4D: Dangerous, Dirty, Dull, Difficult
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Manipulators
Robot arms, industrial robot
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted
on a flange or plate secured
to the wrist joint of robot

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Manipulators
Robot Configuration:

Cartesian: PPP

Cylindrical: RPP

Spherical: RRP

Hand coordinate:
Articulated: RRR

SCARA: RRP

n: normal vector; s: sliding vector;

(Selective Compliance
Assembly Robot Arm)

a: approach vector, normal to the

tool mounting plate

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Manipulators
Motion Control Methods
Point to point control
a sequence of discrete points
spot welding, pick-and-place, loading & unloading

Continuous path control

follow a prescribed path, controlled-path motion
Spray painting, Arc welding, Gluing

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Manipulators
Robot Specifications
Number of Axes
Major axes, (1-3) => Position the wrist
Minor axes, (4-6) => Orient the tool
Redundant, (7-n) => reaching around
obstacles, avoiding undesirable
configuration

Degree of Freedom (DOF)

Workspace
Payload (load capacity)
Precision v.s. Repeatability

Which one is more important?

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What is Kinematics
Forward kinematics
z

Given joint variables

q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )

Y ( x, y, z, O, A, T )

End-effector position and orientation, -Formula?

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What is Kinematics
Inverse kinematics
End effector position
and orientation

( x, y, z, O, A, T )

q (q1 , q2 , q3 , q4 , q5 , q6 ,qn )

Joint variables -Formula?

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Example 1
Forward kinematics
x0 l cos

y0

y1
x1

y0 l sin

Inverse kinematics

cos ( x0 / l )
1

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x0

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Preliminary
Robot Reference Frames
World frame
Joint frame
Tool frame

z
z

x
y

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Preliminary
Coordinate Transformation
Reference coordinate frame
OXYZ
Body-attached frame Ouvw

Point represented in OXYZ:

Pxyz [ p x , p y , p z ]

Pxyz px i x p y jy pz k z
T

Point represented in Ouvw:

Puvw pu i u pv jv pw k w
Two frames coincide ==>

w
v
O, O

pu p x pv p y pw p z

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Preliminary
Properties: Dot Product
3
Let x and y be arbitrary vectors in R and be
the angle from x to y , then

x y x y cos

Properties of orthonormal coordinate frame

Mutually perpendicular

i j 0

i k 0

k j 0

Unit vectors

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| i | 1

| j | 1

| k | 1

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Preliminary
Coordinate Transformation
z

Rotation only

Pxyz px i x p y jy pz k z

Puvw pu i u pv jv pw k w

P
y

Pxyz RPuvw

How to relate the coordinate in these two frames?

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Preliminary
Basic Rotation
p x , p y, and pz represent the projections of P
onto OX, OY, OZ axes, respectively
Since P pu i u pv jv pw k w

px i x P i x i u pu i x jv pv i x k w pw

p y jy P jy i u pu jy jv pv jy k w pw
pz k z P k z i u pu k z jv pv k z k w pw
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Preliminary
Basic Rotation Matrix
px i x i u
p j i
y y u
pz k z i u

i x jv
jy jv
k z jv

i x k w pu

jy k w pv
k z k w pw

Rotation about x-axis with

1 0

Rot ( x, ) 0 C
0 S

S
C

P v

x
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Preliminary
Is it True?
Rotation about x axis with
0
p x 1
p 0 cos
y
p z 0 sin

0 pu

sin pv
cos pw

P v

p x pu

p y pv cos pw sin
p z pv sin pw cos

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Basic Rotation Matrices

Rotation about x-axis with

1 0
Rot ( x, ) 0 C
0 S

Rotation about y-axis with

C
Rot ( y, ) 0
S

Rotation about z-axis with

Pxyz RPuvw

C
Rot ( z, ) S
0

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0
S
C

0 S
1 0
0 C
S
C
0

0
0
1
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Preliminary
Basic Rotation Matrix
i x i u i x jv i x k w
Pxyz RPuvw
R jy i u jy jv jy k w
k z i u k z jv k z k w
Obtain the coordinate of Puvw from the coordinate
Dot products are commutative!
of Pxyz
pu i u i x
p j i
v v x
pw k w i x

i u jy
jv jy
k w jy

i u k z px

jv k z p y
k w k z pz

QR RT R R 1R I 3

Puvw QPxyz
Q R 1 RT

<== 3X3 identity matrix

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Example 2
A point auvw (4,3,2) is attached to a rotating frame,
the frame rotates 60 degree about the OZ axis of
the reference frame. Find the coordinates of the
point relative to the reference frame after the
rotation.
a xyz Rot ( z,60)auvw
0.5 0.866 0 4 0.598
0.866
0.5
0 3 4.964
0
0
1 2 2

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Example 3
A point axyz (4,3,2) is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated
OU-V-W coordinate system if it has been
rotated 60 degree about OZ axis.
auvw Rot ( z ,60)T a xyz
0.866 0 4 4.598
0.5
0.866 0.5 0 3 1.964
0
0
1 2 2
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Composite Rotation Matrix

A sequence of finite rotations
matrix multiplications do not commute
rules:
if rotating coordinate O-U-V-W is rotating about
principal axis of OXYZ frame, then Pre-multiply
the previous (resultant) rotation matrix with an
appropriate basic rotation matrix
if rotating coordinate OUVW is rotating about its
own principal axes, then post-multiply the
previous (resultant) rotation matrix with an
appropriate basic rotation matrix
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Example 4
Find the rotation matrix for the following
operations:
Rotation about OY axis
Rotation about OW axis
Rotation about OU axis
Answer...

R Rot ( y, ) I 3 Rot ( w, ) Rot (u, )

C 0
0 1
- S 0
CC
S
SC

S C
0 S
C 0

S
C
0

SS CSC
CC
SSC CS

0 1 0
0 0 C
1 0 S

0
S
C

CSS SC

CS

CC SSS

Pre-multiply if rotate about the OXYZ axes

Post-multiply if rotate about the OUVW axes
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Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}
description of {B} as
seen from an observer
in {A}

Rotation of {B} with respect to {A}

Translation of the origin of {B} with respect to origin of {A}
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Coordinate Transformations
Two Special Cases
r RB r r

A P

A o'

1. Translation only
Axes of {B} and {A} are
parallel
A

RB 1

2. Rotation only
Origins of {B} and {A}
are coincident

r 0

A o'

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Homogeneous Representation
Coordinate transformation from {B} to {A}
r ARB B r P Ar o '

A P

A r P A RB

1 013

B P

r
r

1 1

A o'

Homogeneous transformation matrix

RB
TB
013
A

r R33

1 0

A o'

P31

Scaling
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Rotation
matrix
Position
vector
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Homogeneous Transformation
Special cases
1. Translation

I 33
A
TB
013

A o'

2. Rotation
A

RB
A
TB
013

031

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Example 5
Translation along Z-axis with h:
1
0
Trans( z, h)
0

0
1
0
0

0
0
1
0

x 1
y 0

z 0

1 0

0
0
h

0
1
0
0

0
0
1
0

0 pu pu
0 pv pv

pw h
h pw

1 1 1

P
y

w
v

v
O, O

O, O

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x
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Example 6
Rotation about the X-axis by
1 0
0 C
Rot ( x, )
0 S

0 0

0
0
0

0
S
C
0

x 1 0
y 0 C

z 0 S

1 0 0

0
S
C
0

0 pu
0 pv
0 p w

1 1

P v

u
x

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y
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Homogeneous Transformation
Composite Homogeneous Transformation
Matrix
Rules:
Transformation (rotation/translation) w.r.t
(X,Y,Z) (OLD FRAME), using premultiplication
Transformation (rotation/translation) w.r.t
(U,V,W) (NEW FRAME), using postmultiplication
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Example 7
Find the homogeneous transformation matrix
(T) for the following operations:
Rotation about OX axis
Translatio n of a along OX axis
Translatio n of d along OZ axis
Rotation of about OZ axis

T Tz , Tz ,d Tx,aTx, I 44
Answer :

C
S

S
C
0
0

0
0
1
0

0 1
0 0
0 0

1 0

0
1
0
0

0
0
1
0

0 1
0 0
d 0

1 0

0
1
0
0

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0
0
1
0

a 1 0
0 0 C
0 0 S

1 0 0

0
S
C
0

0
0
0

1
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Homogeneous Representation
A frame in space (Geometric
Interpretation)

R33
F
0

P31

nx
n
F y
nz

ax
ay
az
0

sx
sy
sz
0

P( p x , p y , p z )
z

a (z)
s(y)

px
p y
pz

n (X)
y

Principal axis n w.r.t. the reference coordinate system

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Homogeneous Transformation
Translation

a
s

1
0
Fnew
0

0
nx
n
y
nz

0 d x nx s x
0 d y n y s y

1 d z nz s z

0 1 0 0
sx ax px d x
s y a y p y d y
sz az pz d z

0 0
1

0
1
0
0

ax
ay
az
0

px
p y
pz

a
s
n
y

Fnew Trans(d x , d y , d z ) Fold

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Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1
z2
y2
z0

y1

A1

y0

A2

x1
x0

?
i 1

x2

A2 0A1 1 A2

Ai

Transformation matrix for

adjacent coordinate frames
Chain product of successive
coordinate transformation matrices

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Example 8

For the figure shown below, find the 4x4 homogeneous transformation
matrices i 1 Ai and 0 Ai for i=1, 2, 3, 4, 5
0
1 0 0
n
s
a
p

x
x
x
x
c
0 0 1 e c
n s a

py 0 A

y
y
y

1
z3
F
0 1 0 a d
b
nz s z a z p z
y3 x

0
0
0
1
d
z5

0 0 0 1
x5
b
0 1 0
y5
0 0 1 a d
z4
e
1

A2
1 0 0
0
y4
z2
x4

x2
0
0
0
1

z1

z0
x0

x1

y2

y1

y0

Can you find the answer by observation

based on the geometric interpretation of
homogeneous transformation matrix?
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0
1
0
A2
0

1
0
0
0

0 b
0 e c
1
0

0
1
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Orientation Representation
R33
F
0

P31

Rotation matrix representation needs 9

elements to completely describe the
orientation of a rotating rigid body.
Any easy way?
Euler Angles Representation

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Orientation Representation
Euler Angles Representation ( , , )
Many different types
Description of Euler angle representations

Euler Angle I
Sequence
of

about OZ axis
about OU axis

Rotations about OW axis

Euler Angle II

about OZ axis
about OV axis

about OW axis

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Roll-Pitch-Yaw

about OX axis

about OY axis
about OZ axis

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Euler Angle I, Animated

w'= z
w'"= w"

v'"
v"

v'

y
u'"

u' =u"

x
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Orientation Representation
Euler Angle I
cos sin

Rz sin
cos

Rw''

cos

sin
0

0
sin
cos
0

0
0
1

0 , Ru ' 0 cos
0 sin
1

0
1

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sin ,
cos

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Euler Angle I
Resultant eulerian rotation matrix:

R Rz Ru ' Rw''
cos cos

sin sin cos

sin cos
cos sin cos

sin sin

cos sin
sin cos cos
sin sin
cos cos cos
cos sin

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sin sin

cos sin

cos

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Euler Angle II, Animated

w'= z
w"'= w"

v"'

v' =v"
y

u"'
Note the opposite
(clockwise) sense of the
third rotation, .

u'

u"

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Orientation Representation
Matrix with Euler Angle II
sin sin

cos cos cos

cos sin
sin cos cos

cos sin

sin cos
sin cos cos
cos cos
sin cos cos
sin sin

cos sin

sin sin

cos

Quiz: How to get this matrix ?

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Orientation Representation
Description of Roll Pitch Yaw
Z

X
Quiz: How to get rotation matrix ?
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Thank you!
Homework 1 is posted on the web.

Due: Sept. 16, 2008, before class

Next class: kinematics II

z
z
z

x
z

x
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