EE 451 - Kinematics & Inverse Kinematics: H.I. Bozma

Outline
Forward & Inverse kinematics
EE 451 - Kinematics & Inverse Kinematics
H.I. Bozma
Electric Electronic Engineering

Bogazici University
October 16, 2019
H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Outline

Introduction
Robotic Systems
Kinematic Analysis
Denavit-Hartenberg (DH) Convention
Robot Topology Examples
End Effector
Inverse Kinematics

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Problem Statement
◮ Kinematics: Given c ∈ C, find a map f : C → W s.t.

w = f (c) where w ∈ W
◮ Inverse Kinematics: Given w ∈ W, find a map
f −1 : W → C s.t. c = f −1 (w )

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Robotic Systems
◮ A set of links connected by joints

◮ Simple joints: Single DOF qi where joint variable qi
θi ∈ S 1

if joint i is revolute
qi =
di ∈ R >0 if joint i is prismatic
◮ Complex joints: More DOF at a joint

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Simple Joints: General Robot Topology
◮ n joints → n + 1 links
◮ Joints: 1, . . . , n
◮ Links: 0, . . . , n
– Connects link i − 1 to link i
◮ Joint i { – Location is fixed wrt link i − 1 x
– When actuated, link i moves
Stationary robots → Fixed
◮ Link 0 – The first link
Mobile robots → Moving

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Analysis Procedure - Systematic Analysis

◮ Attach a (reference) coordinate frame oi xi yi zi rigidly to each
link i
◮ Thus, coordinates of link i are constant when expressed wrt
ith frame
◮ Frame associated with 0 th link – Inertial Frame
◮ Ai (qi ) – The homogeneous transformation of oi xi yi zi wrt
oi−1 xi−1 yi−1 zi−1
◮ Tij - Homogeneous transformation matrix of oj xj yj wrt oi xi yi zi

 Ai+1 Ai+2 . . . Aj−1 Aj if i < j
i I if i = j
Tj =
j −1
(Ti ) if i > j


Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Assigning Coordinate Frames

◮ Choice zi – Axis of actuation for joint i + 1
◮ Other axes – Right hand rule (Satisfy DH Assumptions)
◮ When joint i is actuated → link i and oi xi yi zi move
◮ Second frame - Set up so that DH Assumptions are satisfied
(in regards to the succeeding frame)
◮ Base frame – Frame 0
◮ Origin o0 - Any point on z0
◮ Choose x0 , y0 so that o0 x0 y0 zo is right-handed
◮ Iterative process – Define Frame i wrt Frame i − 1,
i = 1, . . . n − 1
◮ Frame n – End effector or tool frame - on xn yn zn
Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Assumptions - DH1 and DH2
xi perpendicular to zi−1
xi intersects zi−1
⇓
Unique representation Ai (qi )

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Parameters
Simple way of forming Ai (qi )

◮ 4 Parameters – 3 fixed, 1 variable
◮ θi - Joint angle (qi = θi variable in case of revolute joint)
◮ di - Link offset ( qi = di variable in case of prismatic joint)
◮ ai - Link length
◮ αi - Link twist

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Conventions Ai

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Transformation Matrix
◮ Ai = Rz,θi Trz,di Trx,ai Rx,αi
 
cos θi − sin θi cos αi sin θi sin αi ai cos θi
 sin θi cos θi cos αi − cos θi sin αi ai sin θi 
Ai = 
 0

sin αi cos αi di 
0 0 0 1

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Parameters – Summary
zi−1 - Axis of actuation of joint i!
Parameter Explanation
θi Angle from xi−1 to xi wrt zi−1
di Distance along zi−1 from oi−1 to inters. of xi and zi−1
ai Distance along xi between zi−1 and zi
αi Angle from zi−1 to zi wrt xi
} Right-Hand Rule

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example:

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Parameters for a 2 DOF planar robotic system.
Link i ai αi di θi
1 a1 0 0 θ1
2 a2 0 0 θ2

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Iterative Process - Axes zi−1 and zi
◮ zi−1 and zi – not coplanar

◮ zi−1 and zi – parallel
◮ zi−1 and zi – intersect

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
zi−1 and zi – not coplanar
◮ xi - ∃ unique line from zi−1 to zi , perpendicular to both

◮ oi - Where xi intersects zi

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
zi−1 and zi – parallel
∞ common normals!
◮ Free to choose oi - Anywhere along zi
◮ xi - Arbitrary
◮ xi : Choose common normal of previous joint
◮ xi - Normal through oi−1 → oi - Point of intersection of xi
with zi

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
zi−1 and zi – intersect
◮ oi - Intersection of zi−1 and zi

◮ xi - Orthogonal to the plane defined by zi−1 and zi

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
PR Topology

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
RP Topology

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Frame Setup – Summary
Frame setup
zi−1 and zi
xi oi
Non-coplanar Line from zi−1 xi intersects zi
to zi
Parallel Normal xi intersects zi
through oi−1
Intersects Normal to plane zi−1 intersects
of zi−1 and zi zi

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
DH Parameters – Summary
zi - Axis of actuation of joint i + 1!

Parameter Explanation
θi Angle from xi−1 to xi wrt zi−1
di Distance along zi−1 from the intersection(xi ,zi−1 ) to oi−1
ai Distance along xi from the intersection(xi ,zi−1 ) to oi
αi Angle from zi−1 to zi wrt xi

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 1

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 2 – 3 DOF RRR

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 4 – 3 DOF RRP Scara Robot

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 4 – 3 DOF RRP Scara Robot

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 5 – 3 DOF PPP Cartesian Manipulator

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example – 3 DOF RPP Cartesian Manipulator

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 6 – 3 DOF RPP Cylindrical Manipulator

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example 6 – 3 DOF RPP Cylindrical Manipulator

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Comparative Workspaces

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
End Effector – Gripper Case

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Gripper Parameters
◮ Origin on – Symmetrically between the fingers of the gripper

◮ zn - Approach direction a
◮ yn - Sliding direction s
◮ xn - Normal direction n
◮ Many manipulator systems →
◮ zn−1 and zn coincide.
◮ on−1 and on - translated by dn amount
◮ Joint n - Rotation by θn around zn−1

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Inverse Kinematics Problem

R d
Given H = ∈ SE (3), find joint variables
0 1
c = [q1 , . . . , qn ]T ∈ C, such that
Tn0 (q1 , . . . , qn ) = H
where
Tn0 (q1 , . . . , qn ) = A1 (q1 ) . . . An (qn )

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
General Approach
 
h11 h12 h13 h14
 h21 h22 h23 h24 
 h31 h32 h33 h34 ,
Noting that H =  
h41 h42 h43 h44

where h41 = h42 = h43 = 0 and h44 = 1,
→ n unknowns in 12 nonlinear equations.
◮ Closed-form solutions: Preferable (real-time, nonuniqueness),
but not possible in general!
◮ Existence?
◮ Uniqueness?
◮ Difficult to derive even in case of existence!
◮ Numerical solutions:

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Nonuniqueness

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Efficient & Systematic Techniques
6 DOF with a gripper - exploit kinematic structure

◮ Decouple the problem into simpler problems:
◮ Inverse position kinematics - Wrist position o ∝ q1 , q2 , q3
◮ Inverse orientation kinematics -Wrist orientation R (Tool
frame)
Assume: Find a solution and then check for constraints on ranges
of joints!

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example - PUMA Robot

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Kinematic Decoupling - 6 DOF with Gripper

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
6 DOF with Gripper with Frames

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Spherical Wrist
T63 = A4 A5 A6

cθ4 cθ5 cθ6 − sθ4 sθ6 −cθ4 cθ5 sθ6 − sθ4 cθ6 cθ4 sθ5 cθ4 sθ5 d6
 sθ4 cθ5 cθ6 + cθ4 sθ6 −sθ4 cθ5 sθ6 + cθ4 cθ6 sθ4 sθ5 sθ4 sθ5 d6
= 
 −sθ5 cθ6 sθ5 sθ6 cθ5 cθ5 d6
0 0 0 1
= Rz,θ4 Ry ,θ5 Rz,θ6
Euler Angles – Know how to solve for θ4 , θ5 and θ6

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example - 3DOF RRR

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Example – 3DOF RRR Projection onto x0 , y0 plane.

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Singularity - oc intersects z0

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
RRR Robot with Shoulder Offset

Either d2 = d or d3 = d.

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Left Arm – Right Arm

Introduction
Robotic Systems
Kinematic Analysis
Outline
End Effector
Inverse Kinematics
Finding Link 2 & 3 Parameters

EE 451 - Kinematics & Inverse Kinematics: H.I. Bozma

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

EE 451 - Kinematics & Inverse Kinematics: H.I. Bozma

Uploaded by

Copyright:

Available Formats

Outline

Forward & Inverse kinematics

EE 451 - Kinematics & Inverse Kinematics

Electric Electronic Engineering

October 16, 2019

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Forward & Inverse kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

◮ Kinematics: Given c ∈ C, find a map f : C → W s.t.

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

◮ A set of links connected by joints

◮ Complex joints: More DOF at a joint

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Simple Joints: General Robot Topology

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Analysis Procedure - Systematic Analysis

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Assigning Coordinate Frames

DH Assumptions - DH1 and DH2

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Simple way of forming Ai (qi )

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

◮ Ai = Rz,θi Trz,di Trx,ai Rx,αi

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

DH Parameters for a 2 DOF planar robotic system.

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Iterative Process - Axes zi−1 and zi

◮ zi−1 and zi – not coplanar

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

zi−1 and zi – not coplanar

◮ xi - ∃ unique line from zi−1 to zi , perpendicular to both

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

zi−1 and zi – parallel

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

zi−1 and zi – intersect

◮ oi - Intersection of zi−1 and zi

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

DH Frame Setup – Summary

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

zi - Axis of actuation of joint i + 1!

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 2 – 3 DOF RRR

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 4 – 3 DOF RRP Scara Robot

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 4 – 3 DOF RRP Scara Robot

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 5 – 3 DOF PPP Cartesian Manipulator

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example – 3 DOF RPP Cartesian Manipulator

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 6 – 3 DOF RPP Cylindrical Manipulator

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

Example 6 – 3 DOF RPP Cylindrical Manipulator

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics

H.I. Bozma EE 451 - Kinematics & Inverse Kinematics