MECHANICAL

DEPARTMENT

Chapter 6 :
ROBOT TECHNOLOGY
3.12 Robot Kinematics and Dynamics
3.13 Robot Arm Dynamics

Lecture Scheduled on 25th August 2020 at 11:45 am

Prepared By :- Prof. H. N. Patel
 6.12 ROBOT KINEMATICS AND DYNAMICS
ROBOT KINEMATICS: POSITION ANALYSIS

Prepaired by - Prof. H. N. Patel (GECV

Friday, April 8, 2022 2
Mech)
 6.12 ROBOT KINEMATICS AND DYNAMICS
ROBOT KINEMATICS: POSITION ANALYSIS
 Robots as Mechanism
 Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Prepaired by - Prof. H. N. Patel (GECV

Friday, April 8, 2022 3
Mech)
 6.12 ROBOT KINEMATICS AND DYNAMICS
ROBOT KINEMATICS: POSITION ANALYSIS
 Robots as Mechanism
 Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Prepaired by - Prof. H. N. Patel (GECV

Friday, April 8, 2022 4
Mech)
KINEMATICS STUDIES THE MOTION OF BODIES
 An Example - The PUMA 560

2
3

4
1

There are two more

joints on the end-
The PUMA 560 has SIX revolute joints: effectors (the gripper)
A revolute joint has ONE degree of freedom
( 1 DOF) that is defined by its angle
 Other basic joints
Revolute Joint
1 DOF ( Variable - )

Prismatic Joint
1 DOF (linear) (Variables - d)

Spherical Joint
3 DOF ( Variables - 1, 2, 3)
We are interested in two kinematics topics
 Forward Kinematics (angles to position)
What you are given: The length of each link
The angle of each joint

What you can find: The position of any point

(i.e. it’s (x, y, z) coordinates

 Inverse Kinematics (position to angles)

What you are given:The length of each link
The position of some point on the
robot

What you can find: The angles of each joint needed to

obtain that position
 Quick Math Review
Dot Product: a x 
a 
Geometric Representation:  y

A b x 
A  B  A B cos θ b 
θ  y
B
Matrix Representation:
a x  b x 
A  B        a xb x  a yb y
a y  b y 
Unit Vector
Vector in the direction of a chosen vector but whose
magnitude is 1.

B B
uB 
B uB
 Quick Matrix Review
Matrix Multiplication:

An (m x n) matrix A and an (n x p) matrix B, can be multiplied

since the number of columns of A is equal to the number of rows
of B.
Non-Commutative Multiplication
AB is NOT equal to BA
a b   e f  ae  bg  af  bh
c d    g  
h  ce  dg  cf  dh
  

Matrix Addition:
a b   e f   a  e  b  f 
c d    g  
h  c  g  d  h 
  
 Basic Transformations
Moving Between Coordinate Frames
Translation Along the X-Axis

Y O

(VN,VO)

XY NO VO
V V

P
N
X V
N

Px

Px = distance between the XY and NO coordinate planes

V X  V N   Px 
Notation: V XY
  Y V NO
  O P 
V  V  0
 Writing V XY in terms of V NO

Y O

XY NO VO
V V
P 
N
X VN

XY PX  V N  NO
V  O   P V
 V 
Translation along the X-Axis and Y-Axis O

NO VO
V

N
VXY VN

PXY
XY  Px 
X P  
PY 

PX  V N 
V XY  P V NO  O
P
 Y  V 
 Using Basis Vectors
Basis vectors are unit vectors that point along a coordinate axis
O

n Unit vector along the N-Axis

o Unit vector along the N-Axis
NO VO
NO V
V Magnitude of the V NO
o
vector
N
n VN

V N   V cosθ  V NO cosθ  V NO  n 
NO

V NO   O    NO    NO    NO 
V   V sinθ   V cos(90  θ)  V  o 
 Y
Rotation (around the Z-Axis)
Z X
Y
O

VO
V N

VY

VN
 X
VX

 = Angle of rotation between the XY and NO coordinate axis

V X  V N 
V XY   Y V NO   O
V  V 
 x
Y Unit vector along X-Axis
O
V
Can be considered with respect to
the XY coordinates or NO coordinates
V VO
N V XY
 V NO

VY
 
VN
X
VX
X XY NO NO
V  V cos α  V cos α  V x
X N O (Substituting for VNO using the N and O
V  (V  n  V  o)  x components of the vector)

V X  V N (x  n )  V O (x  o )
 V N (cos θ )  V O (cos( θ  90))
 V N (cos θ )  V O (sin θ )
Similarly….
VY  V NO
sin α  V NO
cos(90  α)  V NO
y
V Y  (V N  n  V O  o )  y
V Y  V N (y  n )  V O (y  o )
 V N (cos(90  θ))  V O (cos θ )
 V N (sin θ )  V O (cos θ )
So….
X N
V  V (cos θ )  V (sin θ )O V X 
V XY   Y
V Y  V N (sin θ )  V O (cos θ ) V 
Written in Matrix Form

XY V X  cosθ  sinθ V N  Rotation Matrix about the z-axis

V   Y     O
V   sinθ cosθ  V 
 Y1
O
(VN,VO)
Y0
VNO N

VXY

X1
P
Translation along P followed by rotation by 
X0

 V X   Px   cos θ  sin θ   V N 
V XY   Y     sin θ  
 V   Py   cos θ   V O 
(Note : Px, Py are relative to the original coordinate frame. Translation
followed by rotation is different than rotation followed by translation.)
In other words, knowing the coordinates of a point (VN,VO) in
some coordinate frame (NO) you can find the position of that
point relative to your original coordinate frame (X0Y0).
 HOMOGENEOUS REPRESENTATION
Putting it all into a Matrix

XY  V X   Px   cos θ  sin θ   V N  What we found by doing a

V   Y     sin θ  
cos θ   V O 
translation and a rotation
 V   Py  

 V X   Px   cos θ  sin θ 0 V N  Padding with 0’s and 1’s

   
  V Y    Py    sin θ
 cos θ 0   V O 
 1   1   0 0 1   1 
 

 V X   cos θ  sin θ Px   V N 
   
  V Y    sin θ cos θ Py   V O  Simplifying into a matrix form
 1   0 0 1   1 
 
 cos θ  sin θ Px 
H   sin θ cos θ Py  Homogenous Matrix for a Translation in
XY plane, followed by a Rotation around
 0 0 1  the z-axis
Rotation Matrices in 3D – OK, lets return from
homogenous representation
 cos θ  sin θ 0
Rotation around the
R z   sin θ cos θ 0  Z-Axis
 0 0 1 

 cos θ 0 sin θ 
R y   0 1 0  Rotation around the
  sin θ 0 cos θ  Y-Axis

1 0 0 
R z   0 cos θ  sin θ  Rotation around the
 0 sin θ cos θ  X-Axis
 Homogeneous Matrices in 3D
H is a 4x4 matrix that can describe a translation, rotation, or both in one matrix
O
1 0 0 Px 
Y
0 1 0 Py 
P
N H
0 0 1 Pz 
X A  
Translation without 0 0 0 1
Z rotation

Y
n x ox ax 0
n oy ay 0
H y
O
N
n z oz az 0
 
X 0 0 0 1
Rotation part:
Z Rotation without Could be rotation around z-axis,
A translation x-axis, y-axis or a combination of the
three.
 Homogeneous Continued….

V N 
 O
V The (n,o,a) position of a point relative
V XY  H A 
V  to the current coordinate frame you
  are in.
 1 

n x ox ax Px  V N 
n   O
oy ay Py  V  V X  n x V N  o x V O  a x V A  Px
V XY  y
n z oz az Pz  V A 
  
0 0 0 1   1 

The rotation and translation part can be combined into a

single homogeneous matrix IF and ONLY IF both are relative to
the same coordinate frame.
 Finding the Homogeneous Matrix
EX.
J

N W N 
Y  O
I W 
W A 
 
T
P
X
K A O
Z
W 
X  WI  W N 
 Y  Point relative to the  J  Point relative to the  O  Point relative to the
 W  X-Y-Z frame  W  I-J-K frame  W  N-O-A frame
WZ  W K  W A 
     

 W   Pi   n i
 WI   ni oi ai Pi   W N 
I
oi ai  W  N
 J   
 J    
a j   W O 

 W   nj oj aj Pj   W O 
 W    Pj    n j oj
 W K  Pk  n k  W K  n k ok ak Pk   W A 
  ok a k   W A      
 1   0 0 0 1   1 
 J
W N 
Y N  O
I W 
W A 
 
T
P
X
K A O
Z
 W X  i x jx kx Tx   W I 
 W  Tx  i x
X
jx k x  W  I
 Y   
 Y       W   i y jy ky Ty   W J 
 W   Ty   i y jy k y   W J 
 W Z  i z jz kz Tz   W K 
 W Z  Tz  i z jz k z   W k      
   1   0 0 0 1   1 

 W X  i x jx kx Tx   n i oi ai Pi   W N 
W  I
 Y   
 J
 W   i y jy ky Ty   n j oj aj Pj   W O 
Substituting W 
for W K   W Z  i z jz kz Tz  n k ok ak Pk   W A 
 
     
 1   0 0 0 1  0 0 0 1   1 
W X  W N  i x jx kx Tx   n i oi ai Pi 
 Y  O i
 W   H W  jy ky Ty   n j oj aj Pj 
W Z  W A  H y
i z jz kz Tz  n k ok ak Pk 
      
 1   1  0 0 0 1  0 0 0 1
Product of the two
Notice that H can also be written as: matrices

1 0 0 Tx  i x jx kx 0 1 0 0 Pi   n i oi ai 0
0 1 0 Ty  i y jy ky 0 0 1 0 Pj   n j oj aj 0
H
0 0 1 Tz  i z jz kz 0  0 0 1 Pk  n k ok ak 0
    
0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1

H = (Translation relative to the XYZ frame) * (Rotation relative to

the XYZ frame) * (Translation relative to the IJK frame) *
(Rotation relative to the IJK frame)
 The Homogeneous Matrix is a concatenation of
numerous translations
J
and rotations
I W N 
Y N  O
W 
W A 
 
T
P
X
A O
K
Z
One more variation on finding H:
H= (Rotate so that the X-axis is aligned with T) * ( Translate
along the new t-axis by || T || (magnitude of T))
* (Rotate so that the t-axis is aligned with P)
* (Translate along the p-axis by || P || )
* (Rotate so the p-axis is aligned with the O-axis)
This method might seem a bit confusing, but it’s actually an
easier way to solve our problem given the information we have.
Here is an example…
 Forward Kinematics
The Situation:
You have a robotic arm that
starts out aligned with the xo-axis.
You tell the first link to move by 1
and the second link to move by 2.

The Quest:
What is the position of the end
of the robotic arm?
Solution:
1. Geometric Approach
This might be the easiest solution for the simple situation. However,
notice that the angles are measured relative to the direction of the
previous link. (The first link is the exception. The angle is measured
relative to it’s initial position.) For robots with more links and whose arm
extends into 3 dimensions the geometry gets much more tedious.

2. Algebraic Approach
Involves coordinate transformations.
 Example Problem:
You are have a three link arm that starts out aligned in the x-axis.
Each link has lengths l1, l2, l3, respectively. You tell the first one to move by
1 , and so on as the diagram suggests. Find the Homogeneous matrix to
get the position of the yellow dot in the X0Y0 frame.
Y3

3

Y2 2 X3 3
2 X2

H = Rz(1 ) * Tx1(l1) * Rz(2 ) * Tx2(l2) * Rz(3 )

Y0
1 i.e. Rotating by 1 will put you in the X1Y1 frame.
Translate in the along the X1 axis by l1.
X1

1 Rotating by 2 will put you in the X2Y2 frame.

Y1

X0 and so on until you are in the X3Y3 frame.

The position of the yellow dot relative to the X3Y3 frame is (l1,
0). Multiplying H by that position vector will give you the
coordinates of the yellow point relative the X0Y0 frame.
 Slight variation on the last solution:
Make the yellow dot the origin of a new coordinate X4Y4 frame
Y3

Y4
3

Y2 2 X3 3
2 X2
X4

H = Rz(1 ) * Tx1(l1) * Rz(2 ) * Tx2(l2) * Rz(3 ) * Tx3(l3)

Y0
1
This takes you from the X0Y0 frame to the X4Y4 frame.
X1

1
The position of the yellow dot relative to the X4Y4
Y1

X0
frame is (0,0).
X  0 
Y  0 
   H   Notice that multiplying by the (0,0,0,1) vector
Z  0  will equal the last column of the H matrix.
   
 1  1 
More on Forward Kinematics…

Denavit - Hartenberg
Parameters
 More on Forward Kinematics: Denavit - Hartenberg Parameters

Z(i - 1)

Y(i -1) Yi Zi

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

IDEA: Denavit-Hartenberg Notation

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 ).

THE PARAMETERS/VARIABLES: , a , d, 
 The Parameters

You can align

Z(i - 1) the two axis
just using the
Y(i -1) Yi Zi 4 parameters
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)

1) a(i-1)
Technical Definition: a(i-1) is the length of the perpendicular
between the joint axes. The joint axes is 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
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)
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.
Z(i - 1)

If the link is prismatic, Y(i -1) Yi Zi

Xi
then a(i-1) is a variable, a(i - 1 ) di
ai
X(i -1)
not a parameter. i
( i - 1)
2) (i-1) :-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.

3) d(i-1) :-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
Z(i - 1)
Zi to align the X(i-1) and Xi axes.
Y(i -1) Yi Zi
4) i :- Xi ai
a(i - 1 ) di
X(i -1)
Amount of rotation around
i
the Zi axis needed to align ( i - 1)
the X(i-1) axis with the Xi axis.
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 - 1)
Y(i -1) Y Zi
Put the transformation here i X a
a(i - d
X(i -1) i i
1) i 
( i
i
- 1)
 3 Revolute Joints Y2 Z2

Z0 Z1

X2
d2
X0 X1

Y0 Y1
Denavit-Hartenberg Link
a0 a1 Parameter Table

i  (i-1 ) a (i-1 ) di i
Notice that the table has two
uses:
0 0 0 0 0
1) To describe the robot with its
variables and parameters.
1 0 a0 0 1
2) To describe some state of the
robot by having a numerical
2 -9 0 a1 d2 2
values for the variables.
 Y2 Z2
i  (i-1 ) a (i-1 ) di i
Z0 Z1

0 0 0 0 0
X2
d2
X0 X1 1 0 a0 0 1

Y0 Y1
2 -90 a1 d2 2

a0 a1

V X2 
 Y2 
X 0 Y0 Z 0  V  T ( 0T)( 01T)(12T)
V T
V Z2 
 
 1  Note: T is the D-H matrix with (i-1) = 0 and i = 1.
 i  (i-1) a (i-1) di i cosθ0  sinθ0 0 0
sinθ cosθ0 0 0
0 0 0 0 0 0T 
 0

 0 0 1 0
 
1 0 a0 0 1  0 0 0 1
This is just a rotation around the Z0 axis
2 -90 a1 d2 2

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

 sinθ cosθ1 0 0   0 0 1 d 2 
0
1 T   1 1
2T 

 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 then d2
This is a translation by a0 followed
followed by a rotation around the X2
by a rotation around the Z1 axis
and Z2 axis
T ( 0T)( 01T)(12T)
 Inverse Kinematics
From Position to Angles
A Simple Example

Revolute and Prismatic

Finding :
Joints Combined
y
θ  arctan( )
x
More Specifically:
(x , y)
y arctan2( ) specifies that it’s
θ  arctan 2( )
x in the first quadrant
Y

S
1 Finding S:
X

S  (x 2  y 2 )
 Inverse Kinematics of a Two Link Manipulator

(x , y) Given: l1, l2 , x , y

2 Find: 1, 2
l2
Redundancy:
A unique solution to this problem
does not exist. Notice, that using the
l1
1 “givens” two solutions are possible.
Sometimes no solution is possible.
l2 (x , y)

l2
l1 l1
The Geometric Solution
(x , y) Using the Law of Cosines:
l2
2
c 2  a 2  b 2  2ab cos C
2 2
( x 2  y 2 )  l1  l2  2l1l2 cos(180  θ 2 )
cos(180  θ 2 )   cos(θ 2 )
2 2
l1 x 2  y 2  l1  l2
 cos(θ 2 ) 
2l1l2
1
 x 2  y 2  l12  l2 2 
θ 2  arccos 

 2l1l2 
Using the Law of Cosines:
Redundant since 2 could be in the
sin B sin C
 first or fourth quadrant.
b c
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
θ1  arcsin 2 2 
 arctan 2 
 y  x 2  y2  x
α  arctan 2   
x
The Algebraic Solution
l2 (x , y) 
2

c 1  cos θ 1
c 1  2  cos( θ 2  θ 1 )
l1 (1) x  l1 c 1  l 2 c 1  2
(2) y  l1 s 1  l 2 sin 1 2
1
(3) θ  θ 1  θ 2

(1) 2  (2) 2  x 2  y 2 
 2 2 2
  2 2 2
 l1 c1  l2 (c1 2 ) 2  2l1l2 c1 (c1 2 )  l1 s1  l2 (sin 1 2 ) 2  2l1l2 s1 (sin 1 2 ) 
 l1  l2  2l1l2 c1 (c1 2 )  s1 (sin 1 2 ) 
2 2

2 2
 l1  l2  2l1l2 c 2 Only Unknown Note:
 x 2  y 2  l12  l2 2  cos(ab)  (cosa)(cosb) (sina)(sinb)
 θ 2  arccos 
2 l l  sin(ab)  (cosa)(sinb) (cosb)(sina)
 1 2 
 x  l1 c 1  l 2 c 1  2 Note:
 l1 c 1  l 2 c 1 c 2  l 2 s 1 s 2 cos(ab)  (cosa)(cosb) (sina)(sinb)
 c 1 ( l1  l 2 c 2 )  s 1 ( l 2 s 2 ) sin(ab)  (cosa)(sinb) (cosb)(sina)
We know what 2 is from the
y  l1 s 1  l 2 sin 1  2
previous slide. We need to solve for
 l1 s 1  l 2 s 1 c 2  l 2 s 2 c 1 1 .
 c 1 ( l 2 s 2 )  s 1 ( l1  l 2 c 2 )
Now we have two equations
x  s1 ( l 2 s 2 )
and two unknowns (sin 1 and cos
c1  1 )
( l1  l 2 c 2 )
x  s1 ( l 2 s 2 ) Substituting for c1 and simplifying many
y ( l 2 s 2 )  s 1 ( l1  l 2 c 2 ) times
( l1  l 2 c 2 )


1
( l1  l 2 c 2 )

x l 2 s 2  s 1 ( l1 2  l 2 2  2 l1 l 2 c 2 )  Notice this is the law of cosines
and can be replaced by x2+ y2

y ( l1  l 2 c 2 )  x l 2 s 2  y ( l1  l 2 c 2 )  x l 2 s 2 
s1  θ 1  arcsin  

x2 y2  x2 y2 
 6.13 ROBOT ARM DYNAMICS

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 6.13 ROBOT ARM DYNAMICS
Derivation of Robot Dynamics using Lagrange Equation
 1) Choose the generalized coordinates q (usually use the
kinematics parameters defined by the D-H method).
 2) Identify the non-conservative forces that are exerted at the
system and do work.
 3) Calculate the kinetic energy K and the potential energy U,
and then L=K-U.
 4) Calculate the partial derivatives.
 5) Calculate the generalized force F.
 6) Apply the Lagrange equation.

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 REFERENCES

1. http://nptel.ac.in/courses/112103174/module7/lec5

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 Thank You

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