Robotics and automation

Dr. Ibrahim Al-Naimi

 Chapter four

Forward Kinematics
Convention for affixing Frames to links:
Link-frame attachment procedure
1. Identify the joint axes and imagine (or draw) infinite lines along them.
For steps 2 through 5 below, consider two of these neighbouring lines (at
axes i and i + 1).
2. Identify the common perpendicular between them, or point of
intersection. At the point of intersection, or at the point where the
common perpendicular meets the ith axis, assign the link-frame origin.
3. Assign the Zi axis pointing along the ith joint axis.
4. Assign the Xi axis pointing along the common perpendicular, or, if the
axes intersect, assign Xi to be normal to the plane containing the two
axes.
5. Assign the Yi axis to complete a right-hand coordinate system.
6. Assign {0} frame to match {1} frame when the first joint variable is zero.
For {N}, choose an origin location and XN direction freely, but generally so
as to cause as many linkage parameters as possible to become zero.
7. Create a table of link parameters ai, di, αi, θi.
 Denavit-Hartenberg (DH) Representation
Convention for affixing Frames to links:
The DH link parameters in terms of the link frames
 Denavit-Hartenberg (DH) Representation
Notes:
•We usually choose ai > 0, because it corresponds to
a distance; however, αi, di, and θi are signed
quantities.
•The convention outlined above does not result in a
unique attachment of frames to links. For example,
when we first align the Zi axis with joint axis i, there
are two choices of direction in which to point Zi.
•Frame {0} - The frame attached to the base of the
robot or link 0 called frame {0} This frame does not
move and, for the problem of arm kinematics, it can
be considered as the reference frame.
 Denavit-Hartenberg (DH) Representation
Notes:
• Frame {0} is arbitrary, so it always simplifies matters to choose
Z0 along axis 1 and to locate frame {0} so that it coincides with
frame {1} when joint variable 1 is zero. Using this convention,
we will always have a0 = 0.0, α0 = 0.0. Additionally, this
ensures that d1 = 0.0 if joint 1 is revolute, or θ1 = 0.0 if joint 1
is prismatic.
• For joint n revolute, the direction of XN is chosen so that it
aligns with XN-1 when θn= 0.0, and the origin of frame {N} is
chosen so that dn= 0.0. For joint n prismatic, the direction of
XN is chosen so that θn= 0.0, and the origin of frame {N} is
chosen at the intersection of XN-1 and joint axis n when
dn=0.0.
• For a revolute joint, link offset is fixed and joint angle is a
controlled variable. For a prismatic joint, joint angle is fixed
and link offset is a controlled variable.
Denavit-Hartenberg (DH) Representation
 Denavit-Hartenberg (DH) Representation
Example: Assign link frames and give the DH parameters for the
RRR manipulator shown in the figure.
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
Denavit-Hartenberg (DH) Representation
 Denavit-Hartenberg (DH) Representation
Example (2): Assign link frames and give the DH parameters for
the manipulator shown in the figure.
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Solution:
 Denavit-Hartenberg (DH) Representation
Example (3): Assign link frames and give the DH parameters for
the manipulator shown in the figure.
 Denavit-Hartenberg (DH) Representation
Solution (a):
 Denavit-Hartenberg (DH) Representation
Solution (b):
 Denavit-Hartenberg (DH) Representation
Solution (c):
 Denavit-Hartenberg (DH) Representation
Solution (d):
 Denavit-Hartenberg (DH) Representation
Example (4): Assign link frames and give the DH parameters for
the manipulator shown in the figure.