Arba Minch University

Arba Minch Institute of Technology

Department of Electrical and Computer Engineering

(ECEG-5604)

CHAPTER TWO – KINEMATICS (PART2)

Instructor: Teshome D. Teshome

teshome.delellegn@amu.edu.et

4/25/2017
Agenda
Kinematics of robot manipulators 3

Open Kinematic Chains 6

Direct kinematic map 8

Spatial relation between joint and link axes 11

Denavit-Hartenberg (DH) frames 13

Example: SCARA robot 20

Assignment I: Stanford manipulator 28

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Kinematics of robot manipulators

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Motivations

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Kinematics - formulation and parameterizations

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Open Kinematic Chains

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Classification by kinematic type - (first 3 dofs)

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Direct kinematic map

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Example: Direct kinematics of 2R arm

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Numbering links and joints

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Spatial relation between joint axes

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Spatial relation between link axes

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Denavit-Hartenberg (DH) frames

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Denavit-Hartenberg parameters

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Ambiguities in defining DH frames

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 Homogeneous transformation
between successive DH frames

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 Homogeneous transformation
between successive DH frames

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Denavit-Hartenberg matrix

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Direct kinematics of manipulators
 The forward kinematics problem for a serial-chain
manipulator is to find the position and orientation of the
end-effector relative to the base given the positions of all
of the joints and the values of all of the geometric link
parameters.
 In practice, the forward kinematics problem is solved by
calculating the transformation between a coordinate
frame fixed in the end-effector ( 𝑅𝐹𝐸 ) and another
coordinate frame fixed in the base(𝑅𝐹𝐵 )

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Direct kinematics of manipulators

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Example: SCARA robot

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Step 1: joint axes

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Step 2: link axes

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Step 3: frames

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Step 4: DH table of parameters

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Step 5: transformation matrices

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Step 6a: direct kinematics - as homogeneous matrix BTE

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Step 6b: direct kinematics - as task vector r ∈ IRm

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Exercise: Stanford manipulator

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Exercise: Stanford manipulator

The so-called Stanford

manipulator is composed of a
spherical arm and a spherical
wrist.

Fig: Stanford manipulator

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Exercise: Stanford manipulator

Since Frame 3 of the spherical arm

coincides with Frame 3 of the spherical
wrist, the direct kinematics function can be
obtained via simple composition of
transformation matrices.

Fig: Spherical arm

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Exercise: Stanford manipulator

Fig: Spherical wrist

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Questions

?
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