Object Location

To move an object with the end effector of a robot we need

to know the position of:

•Base of manipulator

•End Effector relative to Base

•Object relative to End Effector

Sensors / Kinematic Modelling

Co-ordinate frames

1. Motor
2. Joint
3. World
4. Tool

3-D Þ6 degrees of freedom (dof)

For a robot there is an added dof for each joint

More joints means more complexity

Co-ordinate Frames

Cartesian coordinate system

Right hand rule

 Rotation Direction
But in 3-D space this
Y Is a clockwise
rotation!

Previously
q +ve anticlockwise ?

X
 Rotation Direction

q +ve anticlockwise? – need to consider

3d space

X
Z
 Rotation Direction
A bolt with head at the origin and threads
Y aligned with the axis of rotation would
advance along the axis when it rotates in
a positive sense.

To us looking in the negative direction

along the z-axis the rotation appears
anticlockwise

X
Z
Look out along the axis from the
origin when considering sign of
rotation
Consider moving the block
with two translations t1 and t2

Attach a frame to the object

x1, y1, z1
Consider point b on the box
b’ = b + translation t1 of the frame
b” = b’ + translation t2 of the frame

b" = b'+ translation of frame x1 ' , y1 ' , z1 '

 
b” = b + t1 + t 2
Points, vectors and co-ordinate frames are
specified relative to some frame

 R
R
b" = b + t1 + t2
R R

 0
0
b" = b + t1 + t2
0 0
Real world is 3-D

Þ6 degrees of freedom

Translate along X, Y, Z, rotate about X,Y, Z - roll, pitch, yaw

Performing tasks requires moving the end effector.

This is achieved by articulating the joints which

cause the links to move.

For serial link manipulators this can become complex.

If the end effector is at a point in space we will move it

to another point to perform a task. We need to describe
these transformations mathematically.
Transformations 2-D

é x ù é x1 ù
ê yú ® ê y ú
ë û ë 1û

éa c ù é x ù é ax + cy ù é x1 ù
êb d ú ê y ú = êbx + dyú = ê y ú
ë ûë û ë û ë 1û
 2-D rotations

(x’,y’)
y’
r x = r cosq
(x,y) y = r sinq
r
y

x’
x
x’=r cos(q+f)
=r(cosqcosf-sinqsinf)

= x cosf - y sinf
 2-D rotations
Likewise

y’ = x sinf + y cosf
(x’,y’)
y’
r
(x,y)
x’ = x cosf - y sinf r
y’ = x sinf + y cosf y

x’
x
é x'ù écosf - sinf ù é x ù
ê y'ú = ê sinf cosf úû êë y úû
ë û ë

Transform for a rotation f

 2-D Translations

Translation along x direction

x®x+m
f(x) = x+m

What 2x2 matrix can we multiply by to

create a translation?
2-D Translations
 2-D Translations

x®x+m
f(x) = x+m

Try scaling

ax = x+m

Þa = (x+m)/x

f() depends on x - undesireable