INDUSTRIAL ROBOTS

KINEMATICS AND DYNAMICS

qi

BASE
BAZA

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 GEOMETRIC
CONFIGURATION
Robot arms, industrial robot
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric, hydraulic,
End-effector (tool) mounted on a
flange or plate secured to the
wrist joint of robot

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 Industrial robots
Robot Configuration : R-revolute; P-prismatic.

Cartesian: PPP Cylindrical: RPP Spherical: RRP

Hand coordinate:
SCARA: RRP n: normal vector; s: sliding vector;
Articulated: RRR a: approach vector, normal to the
(Selective Compliance
3 Assembly Robot Arm)
tool mounting plate
 Industrial robots
Motion Control Methods
Point to point
a sequence of discrete points

spot welding, pick-and-place, loading & unloading

Continuous path
follow a prescribed path, controlled-path motion

Spray painting, Arc welding, Gluing

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 Industrial robots
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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 The transformation matrix
between two frames
The position and orientation of {B}
an object in relation with a
reference frame are required in
P
order to fully describe its space
position.
A
The frame{B} is described P
relative to frame {A} by means
of a homogenous rotation
matrix R and position vector {A}
P (description of {B} as seen
from an observer in {A})
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The transformation matrix
between two frames
{B}

A
P R T
A
T
A
B
B

0 1
{A}

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 Standard frames

{T}
{W}
{G}

qi

{S}
BASE
BAZA

{B}
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 Base frame {B}

Fixed to the
manipulator (robot)
base. Sometimes
qi denoted as frame{0}
being placed on the
BASE
BAZA static and fixed part
(the 0 link) of the
robot.
{B}
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 The position frame {S}

The frame{S} is placed on

the most relevant position of
the task.
It might be denoted also as
world frame or working
frame. {S}

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 Wrist frame {W}

{W}

qi
Fixed on the last link
BASE
BAZA of the robot.

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 Tool frame {T}

{T}

qi
Fixed to the end of
BASE
BAZA
each tool or gripper
(finger, when empty).

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 Goal frame {G}

The goal frame {G}

describes the path which the
gripper placed tool should {G}
follow. In the final phase this
frame should be coincident
with the tool frame {T}.

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 The direct geometric model
q2 l3 P {Piesa}
l2

q1
qi
The direct geometric model
represents in fact a static
l1 BASE
BAZA geometry problem aiming to
calculate the position and
orientation of the robot gripper.

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 The direct geometric model
q2 l3 P {Object}
l2

q1
qi Joint variables qi (angles for revolute
joints and displacements di for prismatic
l1 BASE
BAZA joints).
The direct geometric model solve the
problem describing the position and
orientation of the tool frame relative to the
base frame.
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 The direct geometric model
Base
Pbase1T (q1 )21T (q2 )tool2T toolP
q2 l3 P {tool}
Or, in general: l2
Base
P K (q1 , q2 , q3 ,...,q n )toolP
q1
qi
n number of DOFs
qi- joint variables
l1 BASE
BAZA
K- transformation matrix
(contains qi variables and
geometric dimensions li).

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 Example 1: 2DOFs serial robot
P(xp,yp)
P(xp,yp) characteristic point

q2
l2
The direct geometric model:
Y Xp=l1*cos(q1)+l2*cos(q1+q2)
l1
q1 Yp=l1*sin(q1)+l2*sin(q1+q2)

x Zp=0
O
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 Example 2: SCARA robot

LATERAL VIEW TOP VIEW

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 Inverse geometric model
If the direct geometric model aims to deduce
the characteristic point coordinates based on the
links dimensions and joint variables, the
inverse geometric model is much more related
to a practical problem aiming to impose the
characteristic point coordinates and gripper
orientation and to deduce the joint variables
(helps translating a gripper trajectory in a joint
variables trajectory).
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 Inverse geometric model
Equation to be solved:

K(joints variables) = desired K (constant)

It contains a set of nonlinear equations, directly related to the robot

complexity.
Sometimes solving these equations requires some empirical
methods.
Solving a n nonlinear equations system may lead to: solutions to
all n variables, no solutions, or contiguous families of solutions.

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 Inverse geometric model
The robot kinematics studies reveal:

The inverse geometric model can be solved for all

6DOFs serial robots (with prismatic or revolute
axes). But, this general solution is a numerical one.
An analytical solution for a 6 DOFs serial robot
can be obtained only if three neighbors revolute
joints are concurrent in the same point.

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 Example: inverse geometric
model for the 2 DOFs robot
P(xp,yp)
Its direct geometric model:
q2 Xp=l1*cos(q1)+l2*cos(q1+q2)
l2
Yp=l1*sin(q1)+l2*sin(q1+q2)

Y Solving the problem means to

l1
q1 calculate the joints variables

x
qi while xp , yp are known.
O
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 Example: inverse geometric
model for the 2 DOFs robot

P(xp,yp) Switching to the polar coordinates

leads to:
q2
l2
r r x y 2
P
2
P

q2 u1
Y u1
l1
q1

O x
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 Example: inverse geometric
model for the 2 DOFs robot
P(xp,yp) The cosine theorem leads to:

q2
l2
l12 l 22 r 2
r u1 arccos
Y u1 2l1l 2
l1 l12 l 22 x 2P y 2P
q1 q 2 arccos
2l1l 2
O x
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 Example: inverse geometric
model for the 2 DOFs robot
P(xp,yp)
r x y 2
P
2
P

q2 u1
q2
l2
r
If u1 0, then the q2 calculus may lead
Y u1
l1 to two distinct values that means two
q1 different links spatial configuration of
the serial robot.
O x
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 Example: inverse geometric
model for the 2 DOFs robot
P(xp,yp) q1 calculus:

l2
q2
q1 u2 u3
r
yP l 12 r 2 l 22
Y
l1
u1 q1 arctg arccos
u3 xP 2l 1r
q1
u2
O x
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 Example: inverse geometric
model for the 2 DOFs robot
Complete solutions:
P(xp,yp)
yP l 12 r 2 l 22
q1 arctg arccos
q2 xP 2l 1r
l2
l12 l 22 x 2P y 2P
q 2 arccos
r
2l1l 2
Y
l1 yP l 12 r 2 l 22
q1 q1 arctg arccos
xP 2l 1r
O x l 12 l 22 x 2P y 2P
q 2 arccos
2l 1l 2
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 Example: inverse geometric
model for the 2 DOFs robot
Conclusions:
If the target point P has been chosen outside the workspace then
r>l1+l2 and there is no possible solution
If r=l1+l2 there is only one unique solution
If r<l1+l2 there are multiple solutions (two).
The geometric model can be used to implement the robot
trajectory controls, but it doesnt allow any facility to control the
velocities at the robot gripper level.

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 Kinematic model
Geometric model problems :

nonlinear {Xp,Yp,Zp}= ( f q ), i=1,,n

i

it doesnt allow any facility to control the velocities at the

robot gripper level

The kinematic model equations connect the

angular and translational characteristic point
velocities relative to the robot base frame.

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 Kinematic model
Direct kinematics
q (q1 , q2 ,qn ) z
Joints Direct Gripper
variables kinematics position
and
orientation y
Inverse
kinematics
x
Y ( x, y, z, , , )
Inverse kinematics
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 Kinematic model calculus
By differentiating relationships that define the geometric model :

xP f 1 (q 1 , q 2 , q 3 )
d d
y f ( q , q , q )
dt dt
P 2 1 2 3

z P f 3 (q1 , q 2 , q 3 )

qi- joints variables;

{xp, yp, zp}-characteristic point coordinates

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 Kinematic model calculus
It follows:
Physical interpretation:
it shows the modality
x P q 1 that each joint velocity
y J q (in joint space)
P 2 influences the robot
z P q 3 speeds in the tasks space
(operational space).
J Jacobian matrix;

x J11 q 1 J12 q 2 ...

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Jacobian Matrix general
case
f1 f1 f1
q
1 q 2 q n
f 2 f 2 f 2
J
q 1 q 2 q n
f f 3 f 3
3
q1 q 2 q n

n number of DOFs

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 Example: 2DOFs robot
Jacobian Matrix
P(xp,yp)

q2
l2
Remember the geometric model:
Y Xp=l1*cos(q1)+l2*cos(q1+q2)=f1(q1,q2)
l1
q1 Yp=l1*sin(q1)+l2*sin(q1+q2)=f2(q1,q2)

x Zp=0
O
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Example: 2DOFs robot
Jacobian Matrix
f1
l1 sin(q1 ) l 2 sin(q1 q 2 )
q 1
f1
l 2 sin(q1 q 2 )
q 2
f 2
?
q 1
f 2
?
q 2

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 Example: 2DOFs robot
Jacobian Matrix

l1 sin(q1 ) l 2 sin(q1 q 2 ) l 2 sin(q1 q 2 )

J l1 cos(q1 ) l 2 cos(q1 q 2 ) l 2 cos(q1 q 2 )
0 0

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 How to use the Jacobian
matrix
! to calculate the influences of the errors in joint variables
qi at the gripper level

X J q
! Nonlinear transformation => the errors effect will be
different for different robot spatial configurations.

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 Example 2 DOFs robot
P(xp,yp) Position 1: q1=30o; q2=60o

q2
l2 q1 0.1o x P 0.0262cm

q 2 0.1 y P 0.0151cm
o

Y
l1
q1
Position 2: q1=45o; q2=30o
O x
q1 0.1o x P 0.0292cm

q 2 0.1 y P 0.0169cm
o

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 Jacobian matrix utilizations

1. Singularities calculus
2. Joint torques end-effectors
forces liaison
3. Robot control

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 Jacobian matrix utilizations
1. Singularities calculus
Singularities: spatial points in which the robot
loses an instantaneous DOF => the robot gripper
cant move towards a certain direction.
det(J)=0 => l1*l2*sin(q2)=0 => q2=0o or
q2=180o
Touching singularities points => lose in robot
performances by decreasing its maneuverability

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 Jacobian matrix utilizations
2. Joint torques end-effectors forces
liaison

J F T

Touching singularities points => the robot gripper

cant exert static forces towards certain directions.

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 Jacobian matrix utilizations
Robot control
Control problem: Based on the imposed
operational coordinates (gripper positions and
velocities) the corresponding generalized joint
coordinates (qi, dqi/dt) are requested.
It follows:

1
q J (q) x
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 Jacobian matrix utilizations
Robot control
Problem: Jacobian matrix calculus; rarely the
Jacobian matrix J is a quadratic matrix.

x J(q) q J T J T x J T J(q) q
q J J T

1
J T x

J J - quadratic matrix
T

J T
J
1
J - pseudoinverse of matrix J
T

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 Jacobian matrix utilizations
Robot control

xi
xdi qi
+ Actuation
J-1(q) system
-

xi
qi
f(q)

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 Jacobian matrix utilizations
Robot control

xdi- collection of points on the desired trajectory

Xi- calculated by means of direct geometric model
J(qi)- recalculated at each operating step
Advantage- simple control law, the kinematic differential
model is a linear one.
Disadvantage- important time consuming calculus due to the
required recalculations of the inverse Jacobian Matrix.

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 The dynamic model
The geometric and kinematic models calculus
is based on the hypothesis that for each desired
spatial robot configuration an equilibrium state
is reached.
These models become less and less
representatives for the robot dynamics when
the robot joints are driven at high speeds and
accelerations, when inertial, centrifugal and
coupling forces have significant values.
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 The dynamic model

Analytically, the dynamic model is represented

by means of a differential equations system
which connects the generalized coordinated
qi , their derivatives, and the forces exerted
towards each robot link (mechanical structure).

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 The dynamic model
Lagrange Method: define the Lagrangian

L = Kinetic Energy- Potential Energy

The system (robot) equations are:

d L L

Fi , i 1,2,..., n
dt q
i qi
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 The dynamic model

Notations:
n number of DOFs
qi generalized coordinates
dqi/dt generalized velocities
Fi generalized forces (forces for prismatic joints,
torques for revolute joints)

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 Steps to build the dynamic
model
Steps:
- writing the potential energy expression as a
function of generalized coordinates;
- writing the kinetic energy expression as a function
of generalized coordinates;
- build the Lagrangian expression;
- calculate the Lagrangian partial derivatives;
- based on the Lagrangian partial derivatives create
the dynamic model for each degree of freedom (joint).
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 The dynamic model
The final form of a dynamic model:

M(q) q V(q, q) G(q)

M robot links mass matrix

V vector of centrifugal and Coriolis terms
G gravity matrix terms

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 Bibliography
1. Murray R.M et al. A mathematical introduction to
robotic manipulation, CRC Press, London, 1994.
2. Craig J.J. Introduction to robotics mechanics &
control Wesley Publishing Company,
Massachusetts, 1986.
3. Ivanescu I. Roboti Industriali Editura
Universitaria, Craiova 1994.
4. Poboroniuc M., Controlul robotilor. Controlul
miscarii umane prin stimulare electrica functionala,
Editura Politehnium, Iasi, 2004.

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