Industrial Robot Defined

A general-purpose, programmable machine possessing

certain anthropomorphic characteristics
 Why industrial robots are important:
 Robots can substitute for humans in hazardous
work environments
 Consistency and accuracy not attainable by
humans
 Can be reprogrammed
 Most robots are controlled by computers and can
therefore be interfaced to other computer systems
 Robot Anatomy

 Manipulator consists of joints and links

 Joints provide relative motion
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-freedom”
 Most robots possess five or six degrees-of-freedom
 Robot manipulator consists of two sections:
 Body-and-arm – for positioning of objects in the
robot's work volume
 Wrist assembly – for orientation of objects
 Robot Anatomy

Robot manipulator - a series of joint-link combinations

 Types of Manipulator Joints

 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
 Translational Motion Joints

Linear joint
(type L)

Orthogonal joint
(type O)
 Rotary Motion Joints

Rotational joint
(type R)

Twisting joint
(type T)

Revolving joint
(type V)
 Joint Notation Scheme

 Uses the joint symbols (L, O, R, T, V) to designate joint

types used to construct robot manipulator
 Separates body-and-arm assembly from wrist assembly
using a colon (:)
 Example: TLR : TR
 Robot Body-and-Arm Configurations

 Five common body-and-arm configurations for industrial

robots:
1. Polar coordinate body-and-arm assembly
2. Cylindrical body-and-arm assembly
3. Cartesian coordinate body-and-arm assembly
4. Jointed-arm body-and-arm assembly
5. Selective Compliance Assembly Robot Arm (SCARA)
 Function of body-and-arm assembly is to position an end
effector (e.g., gripper, tool) in space
 Polar Coordinate
Body-and-Arm Assembly

 Notation TRL:

 Consists of a sliding arm (L joint) actuated relative to the

body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
 Cylindrical Body-and-Arm Assembly

 Notation TLO:

 Consists of a vertical column,

relative to which an arm
assembly is moved up or down
 The arm can be moved in or out
relative to the column
 Cartesian Coordinate
Body-and-Arm Assembly

 Notation LOO:

 Consists of three sliding joints,

two of which are orthogonal
 Other names include rectilinear
robot and x-y-z robot
 Jointed-Arm Robot

 Notation TRR:

 General configuration
of a human arm
 SCARA Robot

 Notation VRO
 SCARA stands for Selectively
Compliant Assembly Robot
Arm
 Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for vertical
insertion tasks
 Wrist Configurations

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end
effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Wrist Configuration

 Typical wrist assembly has two or three degrees-of-

freedom (shown is a three degree-of freedom wrist)
 Notation :RRT
 Joint Drive Systems

 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple material
transfer applications
 Robot Control Systems

 Limited sequence control – pick-and-place operations

using mechanical stops to set positions
 Playback with point-to-point control – records work
cycle as a sequence of points, then plays back the
sequence during program execution
 Playback with continuous path control – greater
memory capacity and/or interpolation capability to
execute paths (in addition to points)
 Intelligent control – exhibits behavior that makes it
seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans
 Robot Control System

 Hierarchical control structure of a robot microcomputer

controller
 ©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.
 ROBOT COMPONENTS

 The basic components of an industrial robot are the

– manipulator
– the end effector (which is the part of the manipulator).
– the power supply
– and the controller.
 The manipulator, which is the robot’s arm, consists of
segments jointed together with axes capable of motion in
various directions allowing the robot to perform work.
 ROBOT COMPONENTS

 The end effector which is a gripper tool, a special device,

or fixture attached to the robot’s arm, actually performs
the work.
 Power supply provides and regulates the energy that is
converted to motion by the robot actuator, and it may be
either electric, pneumatic, or hydraulic.
 The controller initiates, terminates, and coordinates the
motion of sequences of a robot. also it accepts the
necessary inputs to the robot and provides the outputs to
interface with the outside world.
 End Effectors

• In robotics, the physical construction of robot consists of body,

arm and wrist of the machine.
 The body is attached to base and arm assembly attached to
body.
 At the end of the arm wrist is attached, which consists
number of components to allow variety position.
 Relative motion between body, arm and wrist are provided by
joints. The joint motions are either or sliding.
The body, arm and wrist assembly is also called as manipulator.
Attached to the robot wrist is a hand (End effector). The end
effector is not considered as part of robot. The arm and the body
joints keeps the end effector in It is also called gripper.
 End Effectors
 The special tooling for a robot that enables it to perform a specific task
 Two types:
 Grippers – to grasp and manipulate objects (e.g., parts) during
work cycle
 Tools – to perform a process, e.g., spot welding, spray painting
 Grippers would be utilized to grasp an object, usually the
work part and hold it during the robot work cycle. The
types of material used for grippers depends on orientation
of part & friction between parts & grippers.
 The applications include material handling, machine
loading, unloading, palletizing and other similar
operations.
 Types of Grippers

1. Mechanical Grippers
2. Hooks and Scoops
3. Magnetics Grippers
4. Vacuum Grippers
5. Expandable Bladder Type Grippers
6. Adhesive Grippers
 Mechanical grippers

• Mechanical gripper in an end effector,

that uses mechanical fingers actuated by
a mechanism to grasp an object. The
fingers are either attached to the
mechanism.
• The function of the gripper mechanism
is to translate some form of power input
into the grasping action.
• The power input is supplied from the
robot and can be pneumatic, hydraulic,
and electrical.
• The mechanism must be able to open
and close the fingers.
 Robot Mechanical Gripper

 A two-finger mechanical gripper for grasping rotational

parts
 Mechanical Gripper Mechanism

Two ways of gripper mechanism based on finger movement

1.Pivoting movement – Eg. Link actuation
2.Linear or translational movement – Eg. Screw and cylinder
Four ways of gripper mechanism based on kinematic devices
1.Linkage actuation
2.Gear and rack actuation
3.Cam actuation
4.Screw actuation
 Advances in Mechanical Grippers

 Dual grippers
 Interchangeable fingers
 Sensory feedback
 To sense presence of object
 To apply a specified force on the object
 Multiple fingered gripper (similar to human hand)
 Standard gripper products to reduce the amount of
custom design required
Manipulator Kinematics: Homogeneous transformations as
applicable to rotation and translation – DH notation, Forward and
inverse kinematics.
 Introduction to Manipulator Kinematics
 Develop a scheme for
controlling manipulator
motion by representing
position of arm at points
in time.
4
5
ROBOT MOTION ANALYSIS

In robot motion analysis we study the

geometry of the robot arm with respect to
a reference coordinate system, while the
end-effector moves along the prescribed
path .
4
6
ROBOT MOTION ANALYSIS

The kinematic analysis involves two

different kinds of problems:
 1. Determining the coordinates of the
end-effector or end of arm for a given
set of joints coordinates.
 2. Determining the joints coordinates
for a given location of the end-effector
or end of arm.
4
7

ROBOT MOTION ANALYSIS

The position, V, of the end-effector can be
defined in the Cartesian coordinate
system, as:

V = (x, y)
4
8
ROBOT MOTION ANALYSIS

Generally, for robots the location of the end-effector can

be defined in two systems:
a. joint space and
b. world space (also known as global space)
4
9
ROBOT MOTION ANALYSIS

In joint space, the joint parameters such as rotating or

twisting joint angles and variable link lengths are used to
represent the position of the end-effector.
 Vj = (q, a) for RR robot
 Vj = (L1, L2) for LL robot
 Vj = (a, L2) for TL robot
where Vj refers to the position of the end-effector in joint
space.
5
0
ROBOT MOTION ANALYSIS

In world space, rectilinear coordinates with reference to

the basic Cartesian system are used to define the position
of the end-effector.
Usually the origin of the Cartesian axes is located in the
robot's base.
 VW = (x, y)
where VW refers to the position of the end-effector in world
space.
5
1
ROBOT MOTION ANALYSIS

 The transformation of coordinates of the end-effector point

from the joint space to the world space is known as
forward kinematic transformation.
 Similarly, the transformation of coordinates from world
space to joint space is known as backward or reverse
kinematic transformation.
5
2

Forward KinematicTransformation
LL Robot:
Let us consider a Cartesian LL robot
Joints J1 and J2 are linear
joints with links of variable
lengths L1 and L2. Let
y
J 1( x 1 , y1) L
2 joint J1 be denoted by (x1
y1) and joint J2 by (x2,
J 2 ( x 2 ,y 2 )

y2). L
3

From geometry, we can

( x , y )
L
1 easily get the following:

x2=x1+L2 y2 = y1

x
5
3

Forward KinematicTransformation
These relations can be represented in homogeneous
matrix form:

x2   1 0 L2  x1
y2   0 1 0   y1
 1  0 0 1   1 

or X2=T1 X1
5
4

Forward KinematicTransformation
where

 x2   1 0 L2  x1
X2   y 2  T1  0 1 0  X1y1
 1 0 0 1   1
If the end-effector point is denoted by (x, y), then:

x = x2
y = y2 - L3
5
5

Forward KinematicTransformation
therefore
:  x   1 0 0   x2 
y   0 1 L2   y2 
 1  0 0 1   1 

X = T2 X2
or TLL = T2 T1

and  1 0 L2 
TLL  0 1 L 
0 0 1 
5
6
Forward
KinematicTransformation
RR Robot:
Let q and a be the rotations at joints J1 and J2
respectively. Let J1 and J2 have the coordinates of (x1,
y1) and (x2, y2), respectively.

One can write the following

from the geometry:

x2 = x1+L2 cos(q)
y2 = y1 +L2 sin(q)
5
7

Forward KinematicTransformation
In matrix form:
x2   1 0 L2 cos(q) x1
y2   0 1 L2 sin(q)   y1
 1  0 0 1   1

or
X 2 = T1 X 1
On the other end:

x = x2 +L3 cos(a-q)
y = y2 - L3 sin(a-q)
5
8

Forward
KinematicTransformation
In matrix form: x  1 0 L2 cos(a  q)  x2 
y  0 1 L2 sin(a  q)  y2 
1 0 0 1   1

or
X = T2 X2

Combining the two equation gives:

X = T2 (T1 X1) = TRR X1

5
9

Forward KinematicTransformation
where
TRR = T2 T1

 1 0 L2 cos(q)  L2 cos(a  q)

TRR  0 1 L2 sin(q)  L2 sin(a  q) 
0 0 1 
6
0

Forward KinematicTransformation
TL Robot:
Let a be the rotation at twisting joint J1 and L2 be the
variable link length at linear joint J2.

z
y
J
2
( x 2 y 2 )
One can write that:
( x y )

L
2

x = x2 + L2 cos(a)
J1 ( x 1 y 1 )

y = y2 + L2 sin(a)
x
6
1

Forward KinematicTransformation
In matrix form:

x  1 0 L2 cos(a) x2 

y  0 1 L2 sin(a)   y2 
1 0 0 1   1

or
X = TTL X2
6
2

Backward Kinematic Transformation

LL Robot:
In backward kinematic transformation, the objective is to
drive the variable link lengths from the known position
of the end effector in world space.

x = x1 + L2
y = y1 - L3
y1 = y2

By combining above equations, one can get:

L2 = x - x1
L3 = -y +y2
6
3

Backward Kinematic Transformation

RR Robot:
x = x1 + L2 cos(q) + L3 cos(a-q)
y = y1 + L2 sin(q) - L3 sin(a-q)
6
4

Backward Kinematic Transformation

One can easily get the angles:

cos (a ) =
x - x    y  y   L  L 
1
2
1
2 2
2
2
3
2 L 2 L3

and

tan(q ) =
y - y1 L2  L3 cos(a )   x  x1  L3 sin( a )
x - x1 L2  L3 cos(a )    y  y1  L3 sin( a )
6
5
Backward Kinematic Transformation

TL Robot:
x = x2 + L cos(a)
y = y2 +L sin(a)
One can easily get the equations for length and angle:

L= x - x 2  2  y  y 2  2
and
y - y2
sin(a) =
L
6
6
EXAMPLE

An LL robot has two links of variable length.

Assuming that the origin of the global coordinate system is defined
at joint J1, determine the following:

a)The coordinate of the end-effector point if the variable link

lengths are 3m and 5 m.

b) Variable link lengths if the end-effector is located at (3, 5).

6
7
EXAMPLE
6
8

EXAMPLE
 1 0 L2 
TLL  0 1 L3 
Solution: 0 0 1 
a) It is given that: 1 0 3 
TLL  0 1 5
(x1, y1) = (0, 0) 0 0 1 
 x x1
y  TLLy1
 1  1
Therefore the end-
effector point is x  1 0 3 0
y  0 1 50
given by (3, -5). 1 0 0 1  1
 x  3 
y  5
 1  1 
6
9

EXAMPLE
b) The end effector point is given by (3, 5)
Then: L2 = x - x1 = 3 - 0 = 3 m
L3 = -y + y1 = -5 + 0 = -5 m

The variable lengths

are 3 m and 5 m. The
minus sign is due to
the coordinate system
used.
7
0

EXAMPLE
An RR robot has two links of length 1 m. Assume that the origin of
the global coordinate system is at J1.
a) Determine the coordinate of the end-effector point if the joint
rotations are 30o at both joints.
b) Determine joint rotations if the end-effector is located at (1, 0)
7
1
EXAMPLE

 
It is given that (x1, y1) = (0, 0) 1 0 3 1
 2 
TRR  0 1 1  0 
 2 
0 0 1 
 1 0 L2 cos(q)  L2 cos(a  q)  
TRR  0 1 L2 sin(q)  L2 sin(a  q)   x x1
0 0 1  y = TRRy1
 1 1
x  1 0 18667
. 0
Therefore the end-effector point y 
   0 1 0.5 0
is given by (1.8667, 0.5)  1 0 0 1  1
x 18667
. 
y   0.5 
1  0.51 
7
2
EXAMPLE
7
3

EXAMPLE
It is given that (x, y) = (1, 0), therefore,

x 2  y 2  L22  L23
cos(a ) =
2 L3 L2

12  0 2  12  12
cos(a ) =  0.5
2 x1x1

a = 120o
7
4
EXAMPLE

tan(q ) =
y - y1 L2  L3 cos(a )   x  x1  L3 sin( a )
x - x1 L2  L3 cos(a )    y  y1  L3 sin( a )

tan(q ) =
0 - 01  1x cos(120)  1  01 sin( 120)
1 - 01  1cos(120)  0  01 sin( 120)

3
tan(q) = 2 = 3
0.5
q = 60o
7
5
EXAMPLE

In a TL robot, assume that the coordinate system is

defined at joints J2.

a) Determine the coordinates of the end-effector point

if joint J1 twist by an angle of 30o and the variable link
has a length of 1 m.

b) Determine variable link length and angle of twist at

J1 if the end-effector is located at (0.7071, 0.7071)
7
6
EXAMPLE

z
y
J ( 0 0 )
2

( x y )

L = 1 m
2

J1 ( x 1 y 1 )

x
7
7
EXAMPLE

a) It is given that (x2, y2) = (0, 0); L = 1m and a = 30o

1 0 1cos(30o )
 
1 0 L2 cos(a ) TTL  0 1 1sin( 30o ) 
TTL  0 1 L2 sin( a )  0 0 1 
 
0 0 1 

1 0 0.866
TTL  0 1 0.5 
0 0 1 
7
8
EXAMPLE

 x  1 0 0.866 0
 y    0 1 0 .5    0 
     
 1  0 0 1  1

 x  0.866
 y    0 .5 
   
 1   1 

(x, y) = (0.866, 0.5)

7
9
EXAMPLE

b)It is given that (x, y) = (0.7071, 0.7071)

L = (x - x1 ) 2  ( y  y1 ) 2

L = (0.7071 - 0) 2  (0.7071  0) 2

L 1m

sin(a) = (y-y2)/L = (0.7071-0)/1 = 0.7071

a = 45o
DENAVIT-HARTENBERG REPRESENTATION
Chapter 2 Terminologies :
Symbol
Robot Kinematics: Position Analysis

⊙ q : A rotation about the z-axis.

⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙ a : The angle between two successive z-axes (Joint twist)

 Only q and d are joint variables.

 DENAVIT-HARTENBERG
REPRESENTATION PROCEDURES

Start point:
• Assign joint number n to the first shown joint.
• Assign a local reference frame for each and every
joint before or after these joints.
• Y-axis is not used in D-H representation.
 DENAVIT-HARTENBERG REPRESENTATION
Procedures for assigning a local reference frame to each joint:

1. ‫ ٭‬All joints are represented by a z-axis.

• (right-hand rule for rotational joint, linear
movement for prismatic joint)

2. The common normal is one line mutually perpendicular to any

two skew lines.

3. Parallel z-axes joints make a infinite number of common normal.

4. Intersecting z-axes of two successive joints make no common

normal between them(Length is 0.).
DENAVIT-HARTENBERG
Chapter 2 REPRESENTATION
The necessary motions
Robot Kinematics: to transform from
Position Analysis

one reference frame to the next.

(I) Rotate about the zn-axis an able of qn+1. (Coplanar)

(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of an+1 to align zn-axis
with zn+1-axis.
 Denavit -
Hartenberg
Parameters –
a general explanation
Denavit-Hartenberg Notation Only q and d are joint variables

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 di
X(i -1) )

qi
q( i -
• 1)
IDEA: Each joint is assigned a coordinate frame.
• Using the Denavit-Hartenberg notation, you need 4 parameters to describe how
a frame (i) relates to a previous frame ( i -1 ).

⊙ q : A rotation about the z-axis.

• THE PARAMETERS/VARIABLES: , a , d,
⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙ a : The angle between two successive z-axes (Joint twist)
 The a(i-1) Parameter You can
align the
two axis
Z(i - 1) just using
Y(i -1) Yi Zi
the 4
Xi ai
parameters
a(i - 1 ) di
X(i -1)

( i - 1)
• 1) a(i-1)
i

• Technical Definition: a(i-1) is the length of the perpendicular

between the joint axes.
• The joint axes are the axes around which revolution takes place
which are the Z(i-1) and Z(i) axes.
• These two axes can be viewed as lines in space.
• The common perpendicular is the shortest line between the two
axis-lines and is perpendicular to both axis-lines.
 The alpha a(i-1) Parameter
a(i-1) cont...
Visual Approach - “A way to visualize the link parameter a(i-1) is to
imagine an expanding cylinder whose axis is the Z(i-1) axis - when
the cylinder just touches the joint axis i the radius of the cylinder is
equal to a(i-1).” (Manipulator Kinematics)

Z(i - 1)

Y(i -1) Yi Zi

Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
⊙ q : A rotation about the z-axis.
⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙ a : The angle between two successive z-axes (Joint twist)
 • It’s Usually on the Diagram Approach -
If the diagram already specifies the various coordinate frames, then the
common perpendicular is usually the X(i-1) axis.
• So a(i-1) is just the displacement along the X(i-1) to move from the (i-1) frame to
the i frame.

• If the link is prismatic, then a(i-1) is a variable, not a parameter.

Z(i - 1)

Y(i -1) Y Zi
i
Xi ai
a(i - 1 ) di
X(i -1)

( i -
i
1)

⊙ q : A rotation about the z-axis.

⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙ a : The angle between two successive z-axes (Joint twist)
2)(i-1) The (i-1) Parameter
Technical Definition:
Amount of rotation around the common perpendicular so that the joint axes are
parallel.

i.e. How much you have to rotate around the X(i-1) axis so that the Z(i-1) is pointing
in the same direction as the Zi axis.

Positive rotation follows the right hand rule.

Z(i - 1)

Y(i -1) Y Zi
i
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
3) d(i-1) The d(i-1) Parameter
Technical Definition:
The displacement along the Zi axis needed to align the a(i-1) common
perpendicular to the ai common perpendicular.

In other words, displacement along the Zi to align the X(i-1) and Xi axes.

4)  i The i Parameter
Amount of rotation around the Zi axis needed to align the X(i-1) axis with the Xi
axis.

Z(i - 1)

Y(i -1) Y Zi
i
X a
a(i - 1 ) d
X(i -1) i i
i
i
( i - 1)

The same table as last slide

 The Denavit-Hartenberg Matrix
 cosθ i  sinθ i 0 a(i 1) 
sinθ cosα cosθ i cosα (i 1)  sinα (i 1)  sinα (i 1)d i 
 i (i 1)

 sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1)d i 
 
 0 0 0 1 
Just like the Homogeneous Matrix, the Denavit-Hartenberg Matrix is a
transformation matrix from one coordinate frame to the next.
Using a series of D-H Matrix multiplications and the D-H Parameter table, the
final result is a transformation matrix from some frame to your initial frame.

Z(i -
Put the transformation here 1) Y(i - Y Z
1) i i X a
a(i - d
⊙ q : A rotation about the z-axis. X(i - i i
( i - 1) 1)
1) i i
⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙ a : The angle between two successive z-axes (Joint twist)
 Example:
Calculating the final DH
matrix with the DH
Parameter Table
 Example with three Y2 The DH
Revolute Joints
Z0 Z1 Parameter
Table
X2
d2
X0 X1

Y0 Y1
Denavit-Hartenberg Link
a0 a1 Parameter Table
i a(i-1) a(i-1) di qi
Notice that the table has two uses:
1) To describe the robot with its 0 0 0 0 q0
variables and parameters.
2) To describe some state of the 1 0 a0 0 q1
robot by having a numerical values
for the variables. 2 -90 a1 d2 q2
We calculate with respect to
previous 
 Example with three Y2
Revolute Joints
Z0 Z1

X2
d2
X0 X1

Y0 Y1
Denavit-Hartenberg Link
a0 a1 Parameter Table

i a(i-1) a(i-1) di qi
Notice that the table has two uses:
1) To describe the robot with its 0 0 0 0 q0
variables and parameters.
2) To describe some state of the 1 0 a0 0 q1
robot by having a numerical values
for the variables. 2 -90 a1 d2 q2

The same table as last slide

 Y2
i a(i-1) a(i-1) di qi
Z Z
0 1
0 0 0 0 q0
X
d
2
X X 2 1 0 a0 0 q1
0 1
Y0 Y1
2 -90 a1 d2 q2

a a
0 1 The same table as last slide

V X 2 
 Y2 
V T ( 0T)( 01T)( 12T)
V X 0 Y0 Z 0
 T Z 
V 2 
 
 1  Note: T is the D-H matrix with (i-1)
World coordinates
tool coordinates = 0 and i = 1.
These matrices T
are calculated in
next slide
 The same table as last slide
i a(i-1) a(i-1) di qi cosθ 0  sinθ0 0 0
 sinθ cosθ0 0 0
0 0 0 0 q0 T   0
0
 0 0 1 0
 
1 0 a0 0 q1  0 0 0 1
This is just a rotation around
2 -90 a1 d2 q2
the Z0 axis

cosθ1  sinθ1 0 a0   cosθ 2  sinθ 2 0 a1 

 sinθ cosθ1 0 0   0 0 1 d 2 
1T 
0  1
2T 
1 
 0 0 0 0  sinθ 2  cosθ 2 0 0
   
 0 0 0 1  0 0 0 1
This is a translation by a1 and
This is a translation by a0
then d2 followed by a rotation
followed by a rotation around
around the X2 and Z2 axis
the Z1 axis T ( 0T)( 01T)( 2T) 1
 Conclusions
V X 2 
 Y2 
 V 
V X0 Y0 Z0 T Z
V 2 
 
 1 
World coordinates
tool coordinates

T ( 0T)( 01T)( 12T)