ROBOTICS

Kinematics

TEMPUS IV Project: 158644 – JPCR

Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
• Task of kinematics is to describe the location of systems
in space, as well as the situation changes as a function
of time. Kinematics may therefore be regarded as a
geometry of spatial relations and movements.

Position

Orientation
Kinematics
Speed

Acceleration

Forces
Dynamics
Torques

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 2
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
Basic problem of robot kinematics

Motors coordinates Motor movement

Transformation
1

Joint coordinates Joint movement

Internal coordinates

Transformation
2

Cartesian coordinates End-Effector

External coordinates
 Transformation 1

Motors-Coordinates Joint coordinates

n [1/min] φ[Grad]
l [mm] l [mm]

Translation 1 : 1 1 Revolution = x mm

Rotation 1 : 1 1/x a² = b² + c² - 2bc cos(a)

“Direct Drive” Drive Transmission Cosinus Rate
(Without gear ratio ) Translation lever + Spindle
Translation

Simple relations No mathematical difficulties

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 4
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Transformation 2

Forward
Kinematics

Joint-Coordinates Cartesian-
Transformation
Coordinates

Inverse
Kinematics

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 5
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Description of the mechanism
Mechanical arrangement Image Replacement

Position part

Orientation part
(Wrist)

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 6
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Kinematic chain
Open chain Closed chain
Serial mechanism Parallel mechanism

-Good dexterity -compact design

-high flexibility -high accuracy
-large working space -high stiffness
-good accessibility -high payload

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 7
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
Constraints of the kinematics chain

• The positioning accuracy decreases with

the number of axles.
• Each additional axle means additional
costs
- (Engine, transmission, brakes, measuring system,
storage, power amplifiers, position control loop).
• The carrying capacity is reduced with the
increasing number of axles.

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 8
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Arrangement
Dominant kinematics chains
Kartesisch Zylindrisch Sphärisch SCARA Gelenkarm Parallel
Substitute
image
Working space

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 9
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Redundant mechanisms
• High flexibility of movement
- Several combinations of the mechanism for the same position

•All the robot with more than 6 axles are redundant

 Avoid the singularity
 Hyper redundanted mechanism
► yet in practice

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 10
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Representation of the orientation
Matrix R
Elements of the matrix R are not independent
In total there are nine elements
All are orthogonal and have uniform length
Because these six terms are only three
redundant with the matrix R
Representation of the orientation with three independent variables
Euler-Angle (Φ,θ,ψ)
• Fi, Theta, Psi
Yaw, pitch, roll angle
Yaw – ψ, Pitch – θ, Roll – Φ
Representation of the orientation with four independent variables
Quaternions
q0, q 1 , q 2, q 3

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 11
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Euler-Angles

R(Φ,θ,ψ) = Rz(Φ) Rx’(θ) Rz”(ψ)

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 12
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
 Yaw, Pitch, Roll

R(ψ,θ,Φ) = Rz(ψ) Rx’(θ) Ry”(Φ)

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 13
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
Literature / references:

1) Jennifer Kay, Rowan: Introduction to Homogeneous

Transformations & Robot Kinematics, University
Computer Science Department, January 2005
2) J.M. Selig: Introductory Robotics, Prentice Hall, 1992.

TEMPUS IV Project: 158644 – JPCR

ROBOTICS 14
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS