Robotics and automation

Dr. Ibrahim Al-Naimi

 Chapter four

Forward Kinematics
 Manipulator Forward Kinematics
Derivation of link transformations
• We wish to construct the transform that defines frame {i}
relative to the frame {i - 1}. In general, this transformation will
be a function of the four link parameters. For any given robot,
this transformation will be a function of only one variable, the
other three parameters being fixed by mechanical design. By
defining a frame for each link, we have broken the kinematics
problem into a sub problems. In order to solve each of these
sub problems, namely we will further break each sub
problem into four sub subproblems. Each of these four
transformations will be a function of one link parameter only
and will be simple enough that we can write down its form by
inspection. We begin by defining three intermediate frames for
each link—{P}, {Q}, and {R}.
 Manipulator Forward Kinematics
Derivation of link transformations
 Manipulator Forward Kinematics
Derivation of link transformations
 Manipulator Forward Kinematics
Derivation of link transformations
• If we wish to write the transformation that transforms
vectors defined in {i} to their description in {i —1} we may
write:
 Manipulator Forward Kinematics
Derivation of link transformations
 Manipulator Forward Kinematics
Derivation of link transformations
Example:
 Manipulator Forward Kinematics
Concatenating Link Transformation
• Define link frames.
• Define DH parameters of each link.
• Compute the individual link transformation matrix.
• Relates frame { N } to frame { 0 }

• The transformation will be a function of all n joint

variables.
• If the robot’s joint position sensors are queried, the
Cartesian position and orientation of the last link may be
computed by .
 Manipulator Forward Kinematics
Actuator, Joint, and Cartesian Spaces
• The position of all the links of a manipulator of n degrees
of freedom can be specified with a set of n joint variables.
This set of variables is often referred to as the n x 1 joint
vector. The space of all such joint vectors is referred to as
joint space.
• We have been concerned with computing the Cartesian
space description from knowledge of the joint-space
description. We use the term Cartesian space when
position is measured along orthogonal axes and
orientation is measured according to any of the
conventions outlined in the previous Chapter. Sometimes,
the terms task-oriented space and operational space are
used for what we will call Cartesian space.
 Manipulator Forward Kinematics
Actuator, Joint, and Cartesian Spaces
• So far, we have implicitly assumed that each kinematic
joint is actuated directly by some sort of actuator.
However, in the case of many industrial robots, this is not
so. For example, sometimes two actuators work together
in a differential pair to move a single joint, or sometimes
a linear actuator is used to rotate a revolute joint, through
the use of a four-bar linkage. In these cases, it is helpful to
consider the notion of actuator positions. The sensors that
measure the position of the manipulator are often located
at the actuators, so some computations must be
performed to realize the joint vector as a function of a set
of actuator values, or actuator vector.
 Manipulator Forward Kinematics
Actuator, Joint, and Cartesian Spaces
• As is indicated in the following figure, there are
three representations of a manipulator's position
and orientation: descriptions in actuator space, in
joint space, and in Cartesian space.
• The ways in which actuators might be connected to
move a joint are quite varied. For each robot we
design or seek to analyze, the correspondence
between actuator positions and joint positions
must be solved.
 Manipulator Forward Kinematics
Actuator, Joint, and Cartesian Spaces
 Manipulator Forward Kinematics
Frames with standards names
 Manipulator Forward Kinematics
Frames with standards names
• Base frame {B}: is located at the base of the manipulator. It
is merely another name for frame {0}. It is affixed to a
nonmoving part of the robot, sometimes called link 0.
• Station frame {S}: is located in a task-relevant location. In
the previous figure, it is at the corner of a table upon
which the robot is to work. As far as the user of this robot
system is concerned, {S} is the universe frame, and all
actions of the robot are performed relative to it. It is
sometimes called the task frame, the world frame, or the
universe frame. The station frame is always specified with
respect to the base frame, that is
 Manipulator Forward Kinematics
Frames with standards names
• Wrist frame {W}: is affixed to the last link of the
manipulator. It is another name for frame {N}, the link
frame attached to the last link of the robot. Very often,
{W} has its origin fixed at a point called the wrist of the
manipulator, and {W} moves with the last link of the
manipulator. It is defined relative to the base frame—that
is, {W}
• Tool frame {T}: is affixed to the end of any tool the robot
happens to be holding. When the hand is empty, {T} is
usually located with its origin between the fingertips of
the robot. The tool frame is always specified with respect
to the wrist frame. In the figure, the tool frame is defined
with its origin at the tip of a pin that the robot is holding.
 Manipulator Forward Kinematics
Frames with standards names
• Goal frame {G}: is a description of the location to which the
robot is to move the tool. Specifically this means that, at
the end of the motion, the tool frame should be brought
to coincidence with the goal frame. {G} is always specified
relative to the station frame. In the following figure, the
goal is located at a hole into which we want the pin to be
inserted.
 Manipulator Forward Kinematics
Frames with standards names
 Manipulator Forward Kinematics
Where is the tool?
• One of the first capabilities a robot must have is to be able
to calculate the position and orientation of the tool it is
holding with respect to a convenient coordinate system.
That is, we wish to calculate the value of the tool frame,
{T}, relative to the station frame, {S}. Once has been
computed via the kinematic equations, we can use
Cartesian transforms to calculate {T} relative to {S}. Solving
a simple transform equation leads to
 Manipulator Forward Kinematics
Where is the tool?
• This equation implements what is called the WHERE
function in some robot systems. It computes "where" the
arm is. For the situation in the previous figure, the output
of WHERE would be the position and orientation of the
pin relative to the table top.
• The previous equation can be thought of as generalizing
the kinematics. computes the kinematics due to the
geometry of the linkages, along with a general transform
(which might be considered a fixed link) at the base end
and another at the end-effector . These extra
transforms allow us to include tools with offsets and twists
and to operate with respect to an arbitrary station frame.