Professional Documents
Culture Documents
Robotics 150722060709 Lva1 App6891
Robotics 150722060709 Lva1 App6891
Presented By
Deepam Goyal
qxyz (3,5,7)T the coordinates with respect to OXYZ plane, what are the
corresponding coordinates of p and q with respect to OABC frame.
Homogeneous Transformations
1 y
(x , y) (i) θ tan ( )
x
S
1
(ii) S (x2 y 2 )
X
2 (x , y)
l2
1 l1
Given: l1, l2 , x , y
Find: 1, 2
Redundancy:
A unique solution to this problem does not exist. Notice,
that using the “givens” two solutions are possible.
Sometimes no solution is possible.
The Algebraic Solution
c1 cosθ1
c1 2 cos(θ 2 θ1 )
(i ) x l1 c1 l2 c1 2
(ii) y l1 s1 l2 sin 1 2
(iii) θ θ1 θ 2
(1)2 (2) 2 x 2 y 2
2 2
l1 c1 l2 (c1 2 ) 2 2l1l2 c1 (c1 2 ) l1 s1 l2 (sin1 2 ) 2 2l1l2 s1 (sin1 2 )
2 2 2 2
l1 l2 2l1l2 c1 (c1 2 ) s1 (sin1 2 )
2 2
l1 l2 2l1l2 c 2
2 2 Only
Unknown
x 2
y 2
l
2
l
2
θ 2 cos
1 1 2
2 l1l 2
x l1 c1 l2 c1 2
l1 c1 l2 c1c 2 l2 s1s2
c1 (l1 l2 c 2 ) s1 (l2 s2 )
We know what 2 is from the
y l1 s1 l2 sin 1 2 previous slide. We need to solve for
1 . Now we have two equations and
l1 s1 l2 s1c 2 l2 s 2 c1 two unknowns (sin 1 and cos 1 )
c1 (l2 s 2 ) s1 (l1 l2 c 2 )
x s1 (l2 s2 )
c1 (Substituting for c1 and simplifying
(l1 l2 c 2 )
many times)
x s1 (l2 s2 )
y (l2 s 2 ) s1 (l1 l2 c 2 )
(l1 l2 c 2 )
1
(l1 l2 c 2 )
x l2 s2 s1 (l1 l2 2l1l2 c 2 )
2 2
(This is the law of cosines and can be
replaced by x2+ y2)
1 y(l1 l2 c 2 ) x l2 s2
y(l1 l2 c 2 ) x l2 s2 θ1 sin
s1 x y
2 2
x y
2 2
The Geometric Solution Using the Law of Cosines:
(x , y) c 2 a 2 b 2 2ab cosC
2
l2
( x 2 y 2 ) l1 l2 2l1l2 cos(180 θ 2 )
2 2
cos(180 θ 2 ) cos(θ 2 )
x 2 y 2 l1 l2
2 2
l1
cos(θ 2 )
2l1l2
1
x 2
y 2
l
2
l
2
1
θ 2 cos 1 2
Using the Law of Sines:
2l1l2
sin B sin C Redundant since 2 could be in the
b c first or fourth quadrant.
sin θ1 sin(180 θ 2 ) sin(θ 2 ) Redundancy caused since 2 has two
l2 x 2 y2 x 2 y2 possible values
θ1 θ1 α l sin(θ ) y
y
θ1 sin 2
1 2
tan 1 2
α tan 1 2 x 2 y2 x
x
Important Terminology
Degeneracy :
The robot looses a degree of freedom and thus cannot
perform as desired.
Dexterity :
The volume of points where one can position the robot
as desired, but not orientate it.
Problems
Example 1: Determine the homogeneous transformation matrix to
represent the following sequence of operations.
a) Translation of 4 units along OX-axis
b) Rotation of 3 OX-axis
c) Translation of -6 units along OC-axis
d) Rotation of about 6 OB-axis
References
• Groover, M.P., Emory W. Zimmers JR. “CAD/CAM:Computer-
Aided Design and Manufacturing”. 25. New Delhi: Prentice
Hall of India Private Limited, 2002. 324-332. Print.
• Hegde, Ganesh S. "Robot Motion Analysis." A Textbook on
Industrial Robotics. Second ed. New Delhi: U Science, 2009.
25-114. Print.
• Niku, Saeed B. "Robotic Kinematics : Position
Analysis." Introduction to Robotics: Analysis, Systems,
Applications. 1st ed. New Delhi: PHI Learning Private
Limited, 2009. 29-90. Print.
Email ID:-
bkdeepamgoyal@gmail.com