Appendices

OEC-EE 703
Rotation Matrix
Rotation Matrix
Composite Rotations
:
Composite Rotations
1
Composite Rotations

1
Composite Rotations

1
Composite Rotations
2
Composite Rotations
Composite Rotations
Composite Rotations
Composite Homogenous Transform
Composite Homogenous Transform
Representation of the Joints
Representation of the Joints
Example 1: D-H Parameters &
Kinematics of Manipulator
Example 1: D-H Parameters &
Kinematics of Manipulator
Example 1: D-H Parameters & Kinematics
of Manipulator (Alternative Approache)

i αi-1 ai-1 di θi
1 0 0 0 θ1
2 0 L1 0 θ2
3 0 L2 0 θ3
Example 1: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
In composite
rotation the order is
Screw(Z), Screw(X)
Example 1: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 1: D-H Parameters &
Kinematics of Manipulator
Possible Solutions:
Example 2: D-H Parameters &
Kinematics of Manipulator
Mini Mover:
Example 2: D-H Parameters &
Kinematics of Manipulator
Frame Description & D-H Parameters Table:
 Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:

Fixed
ref
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Forward Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics: i.
ii.
iii.
iv.
v.
vi.
vii.

From eq. (ii),

Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
From eq. (i)2 + (ii)2 + (iii)2,

From eq. (i),

Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:
Example 2: D-H Parameters &
Kinematics of Manipulator
Inverse Kinematics:

From eq. (iv) and (v),

From eq. (vi) and (vii),

Rules to Compute
Transformation Matrix

Or,
Example 3: D-H Parameters &
Kinematics of Manipulator
T-S-R Manipulator:

Z0 and Z1 are
coincide
Example 3: D-H Parameters &
Kinematics of Manipulator
D-H Parameters’ Table:
Example 4: D-H Parameters &
Kinematics of Manipulator
S-T-R Manipulator :
Example 4: D-H Parameters &
Kinematics of Manipulator
D-H Parameters’ Table::
Dynamics
Inverse Dynamics
Forward Dynamics
Robot Dynamics
Robot Dynamics: Spatial
Description & Transformation
Robot Dynamics: Inertia
Tensor
Moment of inertia: 𝑚𝑎𝑠𝑠 × 𝑟 2
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Mass distribution
along principal axis

Z
b/2

Y
-b/2
-a/2 a/2
X
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
−𝑦 2 − 𝑧 2 + 𝑧 2 + 𝑥 2 + 𝑥 2 + 𝑦 2
=
2
= 𝑥2
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Inertia
Tensor
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques
Robot Dynamics: Determination
of Robotic Joint Torques