Robotics I

July 7, 2010 Based on the data sheet of the KUKA KR 30-3 robot with six revolute joints and spherical wrist: i) assign the reference frames according to the Denavit-Hartenberg formalism, putting the origin of the reference frame RF0 on the oor, and derive the associated table of parameters; ii) using the numerical data (in mm), determine the position of the spherical wrist center with respect to RF0 in the conguration = (0, /2, 0, 4 , 5 , 6 ), for arbitrary i , i = 4, 5, 6.

[120 minutes; open books] 1

Solution
July 7, 2010

x3 x2 O3 y2 O2 y1

x4(=x5) x6 O4=O5 z3 y4 z5 O6 z6

x1 O1 z0 x0 O0

Figure 1: D-H frame assignment for the KUKA KR 30-3 robot With reference to Fig. 1, the table of Denavit-Hartenberg parameters is the following: i 1 2 3 4 5 6 i /2 0 /2 /2 /2 0 di d1 = 815 0 0 d4 = 820 0 d6 = 170 ai a1 = 350 a2 = 850 a3 = 145 0 0 0 i 1 2 3 4 5 6

The numerical values (in mm) assigned to the constant parameters in the table are taken from the data sheet. The robot conguration shown corresponds to = (0 0 0 0 0)T . Only the rst 2 2

three homogeneous transformation matrices are needed for determining the position of the center W = 04 = 05 of the spherical wrist: c2 s2 0 a2 c2 c1 0 s1 a1 c1 s s 0 c1 a1 s1 c2 0 a2 s2 1 0 A2 (2 ) = 2 A1 (1 ) = 1 0 0 1 0 1 0 0 d1 0 0 0 1 0 0 0 1 c3 s3 2 A3 (3 ) = 0 0 0 s3 0 c3 1 0 0 0 a3 c3 a3 s3 . 0 1

In fact, we may compute the position 0 p04 of O4 as

0 0

p04,hom =

p04 1

= 0 A1 (1 )1 A2 (2 )2 A3 (3 )3 A4 (4 )

0 1

but also as
0

p04,hom = 0 A1 (1 )1 A2 (2 )2 A3 (3 )

p34 1

with

p34

0 = 0 . d4

The most ecient way is to perform computations as matrix/vector products: a3 c3 + d4 s3 a s d4 c3 2 , p24,hom = 2 A3 (3 )3 p34,hom = 3 3 0 1 (a2 + a3 c3 + d4 s3 )c2 (a3 s3 d4 c3 )s2 (a + a3 c3 + d4 s3 )s2 + (a3 s3 d4 c3 )c2 , = 2 0 1

p14,hom = 1 A2 (2 )2 p24,hom

p04,hom = 0 A1 (1 )1 p14,hom

(a1 + (a2 + a3 c3 + d4 s3 )c2 (a3 s3 d4 c3 )s2 )c1 (a + (a2 + a3 c3 + d4 s3 )c2 (a3 s3 d4 c3 )s2 )s1 = 1 d1 + (a2 + a3 c3 + d4 s3 )s2 + (a3 s3 d4 c3 )c2 . 1

At the desired conguration (for the rst three joints), substituting the numerical values, yields a1 + d4 1170 0 = 0 [mm]. 0 p04 (0, , 0) = 2 d1 + a2 + a3 1810