Robotics

Lecture 5

Forward Kinematics
Examples

Emam Fathy

Department of Electrical and Control Engineering

email: emfmz@aast.edu

http://www.aast.edu/cv.php?disp_unit=346&ser=68525
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 Base frame O0
Examples
 All Z ‘s are normal to the page
x2

y2
O2

y0 a2
y1
2
x1

a1 O1

1
x0
O0
Example 2

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Example 2

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 Example 3
The three links cylindrical

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 Example 3
The three links cylindrical

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 Example 3
The three links cylindrical

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 Example 3
The three links cylindrical

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Examples

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End of Lec

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Inverse Kinematics (IK)

“Given a goal position find the joint

angles for the robot arm”
 Inverse Kinematics
 The inverse kinematics is needed in the control of
manipulators.
 Solving the inverse kinematics is computationally
expansive and generally takes a very long time in
the real time control of manipulators.
 IK generally harder than FK
 Sometimes no analytical solution
 Sometimes multiple solutions
 Sometimes no solution
– Outside workspace
 Inverse
kinematics

Analytical Numerical
Method Method
Joint variables solved according Joint variables obtained
to given configuration data by numerical techniques

Geometric Algebraic
solution solution
For simple For more links and
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structures,2-DOF in 3 dimensions
Geometric Solution Approach

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 Geometric Solution Approach
 It is applied to the simple robot structures, such as,
2-DOF planer manipulator whose joints are both
revolute. Y P

 In the shown Figure,

the components of l
2
point P (px , py) are θ
2
determined as
follows.
l
1

θ
1
X
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Y

L L sin (θ + θ )
2 θ 2 1 2
2

θ
1
L
1
L sin θ
θ 1 1
1
X
L cos θ L cos (θ + θ )
1 1 2 1 2

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 The solution of θ2 can be computed from summation
of squaring both previous equations

 Since c2θ1 + s2θ1 = 1, the equation is simplified as:

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 ………1
………2
 The solution of θ1 multiply each side of equation
1 by cθ1 and equation 2 by sθ1 and add the
resulting equations in order to find the solution
of θ1 in terms of link parameters and the known
variable θ2.

…………3 26
 ………1
………2

 Multiply each side of equation 1 by -sθ1 and

equation 2 by cθ1 and add the resulting equations

…………4

Now, multiply each side of equation 3 by px and equation 4 by py

and add the resulting equations in order to obtain cθ1.

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Although the planar manipulator has a very simple
structure, as can be seen, its inverse kinematics
solution based on geometric approach is very
difficult .

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Algebraic Solution Approach

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End of Lec

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