Frame transformation

 EEM 343 ROBOTICS 

ROBOT KINEMATICS: Denavit Hartenberg
   
Part II 

Dr. Muhammad Nasiruddin Mahyuddin

School of Electrical and Electronics Engineering,
Universiti Sains Malaysia

Semester 2 Academic Session 2015/2016

Dr. Muhammad Nasiruddin Mahyuddin ✏B EEM 343:denavit-hartenberg(part II) [p.1]

Frame transformation

T RANSFORMATION BETWEEN FRAME i − 1 AND i

Four successive elementary transformations are required to relate the

i-th coordinate frame to the (i-1)-th coordinate frame:
◮ Rotate about the Zi−1 axis an angle of θi to align the Xi−1 axis with the
Xi axis.
◮ Translate along the Zi−1 axis a distance of di , to bring Xi−1 and Xi
axes into coincidence.
◮ Translate along the Xi axis a distance of ai to bring the two origins
Oi−1 and Oi as well as the X axis into coincidence.
◮ Rotate about the Xi axis an angle of ai ( in the right-handed sense), to
bring the two coordinates into coincidence.

Dr. Muhammad Nasiruddin Mahyuddin ✏B EEM 343:denavit-hartenberg(part II) [p.2]

Frame transformation

D-H TRANSFORMATION MATRIX FOR ADJACENT

COORDINATE FRAMES i AND i − 1.

◮ The position and orientation of the i-th frame coordinate can be

expressed in the (i-1)th frame by the following homogeneous
transformation matrix:
i−1
Ti = T(zi−1 , di )R(zi−1 , θi )T(xi , ai )R(xi , αi ) (1)

 
Cθi −Cαi Sθi Sαi Sθi ai Cθi
 Sθi Cαi Cθi −Sαi Cθi ai Sθi 
=⇒i−1 Ti = 
  (2)
0 Sαi Cαi di 
0 0 0 1
note that the subscript denotes the current frame whilst the superscript denotes the
reference frame

Dr. Muhammad Nasiruddin Mahyuddin ✏B EEM 343:denavit-hartenberg(part II) [p.3]

Frame transformation

F ORMING THE R OBOTS K INEMATIC E QUATIONS

Forward Kinematics
◮ Given joint variables
◮ End-effector position and orientation
Homogeneous Transformation Matrix
◮ specifies the location of the ith coordinate frame w.r.t. the base
coordinate system
◮ chain product of successive coordinate transformation matrices
of i−1 Ti
0
Tn =0 T1 1 T2 2 T3 3 T4 . . .n−1 Tn (3)
◮ Equation (3) gives the position and orientation of the
end-effector frame expressed in the base coordinates.

Dr. Muhammad Nasiruddin Mahyuddin ✏B EEM 343:denavit-hartenberg(part II) [p.4]