Robot Kinematics

PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

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Rotational Operator
Rot : Rotation about axis by an angle θ (anticlockwise sense)

𝑫𝑪=𝒒 𝒙 𝑺𝒊𝒏 𝜽
𝑨𝑸=𝒒 𝒚 𝑪𝒐𝒔 𝜽
𝑶𝑪=𝒒 𝒙 𝑪𝒐𝒔 𝜽
𝑨𝑫= 𝑩𝑪=𝒒 𝒚 𝑺𝒊𝒏 𝜽

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𝒒 𝑿 =𝒒 𝒙 𝑪𝒐𝒔 𝜽 −𝒒 𝒚 𝑺𝒊𝒏𝜽 +𝒒 𝒛 𝑿 𝟎
𝒒 𝒀 =𝒒 𝒙 𝑺𝒊𝒏𝜽 +𝒒 𝒚 𝑪𝒐𝒔 𝜽+𝒒 𝒛 𝑿 𝟎
𝒒 𝒁 =𝒒 𝒙 𝑿 𝟎+𝒒 𝒚 𝑿 𝟎+𝒒 𝒛 𝑿 𝟏

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In matrix form:
q X  cos   sin  0  q x 
q    sin  cos  0 q y 
 Y 
 q Z   0 0 1  q z 

cos   sin  0
 
Rot Ẑ,    sin  cos  0
 0 0 1

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Similarly, we get

1 0 0 
 
Rot X̂,   0 cos   sin 
0 sin  cos  

 cos  0 sin  
 
Rot Ŷ,    0 1 0 
 sin  0 cos 

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Properties of Rotation Matrix
• Each row/column of a rotation matrix is a unit vector
• Inner (dot) product of each row of a rotation matrix with each other row
becomes equal to 0. The same is true for each column also.
• Rotation matrices are not commutative in nature

𝑹𝑶𝑻 ( ^ ^ , 𝜽 ) ≠ 𝑹𝑶𝑻 ( 𝒀
^ , 𝜽 ) 𝑹𝑶𝑻 ( ^
• Inverse of a rotation matrix is nothing but its𝟐 transpose 𝟏 )
𝑿 , 𝜽𝟏 ) 𝑹𝑶𝑻 ( 𝒀 𝟐 𝑿,𝜽

𝑹𝑶 𝑻 −𝟏 ( ^
𝑿 ,𝜽 ) =𝑹𝑶 𝑻 𝑻 ( ^
𝑿 , 𝜽)
•
A
T  BAT 1
B

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 A Numerical Example
A frame {B} is rotated about axis of the universal coordinate system by
45 degrees and translated along , and by 1, 2, and 3 units, respectively.
Let the position of a point Q in {B} is given by [3.0 2.0 1.0]T . Determine
U
. Q

Solution:

U
Q  UBT  BQ

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[ ][ ]
𝟏 𝟎 𝟎 𝟏 𝟑
𝟎 𝐜𝐨𝐬 𝟒𝟓 −𝐬𝐢𝐧 𝟒𝟓 𝟐 𝟐
¿
𝟎 𝐬𝐢𝐧 𝟒𝟓 𝐜𝐨𝐬 𝟒𝟓 𝟑 𝟏
𝟎 𝟎 𝟎 𝟏 𝟏
¿

[ ][ ]
𝟒 𝟒
𝟐 𝐜𝐨𝐬 𝟒𝟓 − 𝐬𝐢𝐧𝟒𝟓 +𝟐 𝟐 . 𝟕𝟎𝟕
¿ =
𝟐 𝐬𝐢𝐧 𝟒𝟓+𝐜𝐨𝐬 𝟒𝟓+𝟑 𝟓 . 𝟏𝟐𝟏
𝟏 𝟏

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 Composite Rotation Matrix

Composite rotation matrix representing a rotation of α angle about,

followed by a rotation of β angle about axis , followed by a rotation of γ
angle about axis.

𝑹𝑶 𝑻 𝒄𝒐𝒎𝒑𝒐𝒔𝒊𝒕𝒆 =𝑹𝑶𝑻 ( ^ ^ , 𝜷 ) 𝑹𝑶𝑻 ( ^

𝑿 , 𝜸 ) 𝑹𝑶𝑻 ( 𝒀 𝒁 ,𝜶)

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Representations of Position in Other Than
Cartesian Coordinate System

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Cylindrical Coordinate System
Steps:
1. Starting from the origin O,
translate by r units along axis
2. Rotate in anti-clockwise sense
about axis by an angle θ
3. Translate along axis by z units

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[ 𝑻 ]𝒄𝒐𝒎𝒑𝒐𝒔𝒊𝒕𝒆 =𝑻𝑹𝑨𝑵𝑺 ( ^
𝒁 𝑼 , 𝒛 ) 𝑹𝑶𝑻 ( ^
𝒁 𝑼 , 𝜽 ) 𝑻𝑹𝑨𝑵𝑺 ( ^
𝑿𝑼 ,𝒓 )

[ ]
𝐜𝐨𝐬 𝜽 −𝐬𝐢𝐧 𝜽 𝟎 𝒓 𝐜𝐨𝐬 𝜽
𝐬𝐢𝐧 𝜽 𝐜𝐨𝐬 𝜽 𝟎 𝒓 𝐬𝐢𝐧 𝜽
¿
𝟎 𝟎 𝟏 𝒛
𝟎 𝟎 𝟎 𝟏

We get qx = rcosθ
qy = rsinθ
qz = z

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Spherical Coordinate System
Steps:
1. Starting from the origin O,
translate along axis by r units
2. Rotate in anti-clockwise sense
about axis by an angle α
3. Rotate in anti-clockwise sense
about axis by an angle β

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[ 𝑻 ]𝒄𝒐𝒎𝒑𝒐𝒔𝒊𝒕𝒆 = 𝑹𝑶𝑻 ( ^ ^ , 𝜶 ) 𝑻𝑹𝑨𝑵𝑺 ( ^
𝒁 𝑼 , 𝜷 ) 𝑹𝑶𝑻 ( 𝒀 𝑼 𝒁 𝑼 ,𝒓 )

[ ]
𝐜𝐨𝐬 𝜶 𝐜𝐨𝐬 𝜷 −𝐬𝐢𝐧 𝜷 𝐬𝐢𝐧 𝜶 𝐜𝐨𝐬 𝜷 𝒓 𝐬𝐢𝐧 𝜶 𝐜𝐨𝐬 𝜷
𝐜𝐨𝐬 𝜶 𝐬𝐢𝐧 𝜷 𝐜𝐨𝐬 𝜷 𝐬𝐢𝐧 𝜶 𝐬𝐢𝐧 𝜷 𝒓 𝐬𝐢𝐧 𝜶 𝐬𝐢𝐧 𝜷
¿
−𝐬𝐢𝐧 𝜶 𝟎 𝐜𝐨𝐬 𝜶 𝒓 𝐜𝐨𝐬 𝜶
𝟎 𝟎 𝟎 𝟏

We get qx = rsinαcosβ
qy = rsinαsinβ
qz = rcosα

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Representations of Orientation in Other Than
Cartesian Coordinate System

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Roll, Pitch and Yaw Angles

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Steps:
1. Rotate {B} about by an angle α rolling
2. Rotate {B|} about by an angle β pitching
3. Rotate {B||} about by an angle γ yawing

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𝑼
𝑩 𝑹𝒄𝒐𝒎𝒑𝒐𝒔𝒊𝒕 𝒆 :𝒓𝒑𝒚 =𝑹𝑶𝑻 ( ^ ^ , 𝜷 ) 𝑹𝑶𝑻 ( ^
𝒁 𝑼 ,𝜸 ) 𝑹𝑶𝑻 ( 𝒀 𝑼 𝑿𝑼 , 𝜶 )

[ ]
𝒄 𝜷 𝒄 𝜸 − 𝒄 𝜶 𝒔 𝜸 +𝒔 𝜶 𝒔 𝜷 𝒄 𝜸 𝒔 𝜶 𝒔 𝜸 +𝒄 𝜶 𝒔 𝜷 𝒄 𝜸
¿ 𝒄 𝜷 𝒔 𝜸 𝒄 𝜶 𝒄 𝜸 +𝒔 𝜶 𝒔 𝜷 𝒔 𝜸 − 𝒔 𝜶 𝒄 𝜸 +𝒄 𝜶 𝒔 𝜷 𝒔𝜸
−𝒔 𝜷 𝒄𝜷𝒔𝜶 𝒄𝜶𝒄 𝜷

We compare with

[ ]
𝒓 𝟏𝟏 𝒓 𝟏𝟐 𝒓 𝟏𝟑
𝑼
𝑩 𝑹= 𝒓 𝟐𝟏 𝒓 𝟐𝟐 𝒓 𝟐𝟑
𝒓 𝟑𝟏 𝒓 𝟑𝟐 𝒓 𝟑𝟑

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We get

𝜶=𝐭𝐚𝐧
𝒓 𝟑𝟐
−𝟏
𝒓 𝟑𝟑( )
¿
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 A Numerical Example
The concept of roll, pitch and yaw angles has been used to represent the
rotation of a frame {B} with respect to the reference frame {U}, that is
Let us suppose that the above rotation can also be expressed by a 3X3
rotation matrix as given below.

[ ]
−𝟎 .𝟐𝟓𝟎 𝟎 . 𝟒𝟑𝟑 − 𝟎 .𝟖𝟔𝟔
𝑼
𝑩 𝑹= 𝟎 .𝟒𝟑𝟑 − 𝟎 .𝟕𝟓𝟎 − 𝟎. 𝟓𝟎𝟎
−𝟎 .𝟖𝟔𝟔 − 𝟎 .𝟓𝟎𝟎 𝟎 . 𝟎𝟎𝟎

Determine the angles of rolling, pitching and yawing.

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Solution:
−𝟏 𝒓 𝟑𝟐 −𝟏 −𝟎 . 𝟓𝟎𝟎
Angle of rolling 𝜶=𝐭𝐚𝐧 =𝐭𝐚𝐧 =𝟗𝟎 °
𝒓 𝟑𝟑 𝟎 .𝟎𝟎𝟎

Angle of pitching
−𝒓
−𝟏 𝟑𝟏 −𝟏 𝟎.𝟖𝟔𝟔
𝜷=𝐭𝐚𝐧 𝟐 𝟐 =𝐭𝐚𝐧 𝟐 𝟐=𝟒𝟎.𝟖𝟗°
√𝒓𝟏𝟏+𝒓𝟐𝟏 √(−𝟎.𝟐𝟓𝟎) +(𝟎.𝟒𝟑𝟑)
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Angle of yawing
−𝒓 𝟐𝟏 −𝟏 𝟎.𝟒𝟑𝟑
−𝟏
𝜸=𝐭𝐚𝐧 =𝐭𝐚𝐧 =−𝟓𝟗.𝟗𝟗≈ −𝟔𝟎°
𝒓 𝟏𝟏 −𝟎.𝟐𝟓𝟎

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Using Euler Angles U
B R  UB R 1
Steps:
1.Rotate {B} about by an angle α in anti-
clockwise sense
2.Rotate {B} about by an angle β in anti-
clockwise sense
3.Rotate {B} about by an angle γ in anti-
clockwise sense

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𝑩
𝑼 𝑹 𝑬𝒖𝒍𝒆𝒓𝒂𝒏𝒈𝒍𝒆𝒔 = 𝑹𝑶𝑻 ¿

[ ]
𝒄 𝜶𝒄 𝜷 𝒔 𝜷 𝒔𝜸 𝒄 𝜶 − 𝒔 𝜶 𝒄 𝜸 𝒔 𝜷 𝒄 𝜸 𝒄 𝜶+𝒔𝜶 𝒔𝜸
𝑼
𝑩 𝑹= 𝒔𝜶 𝒄 𝜷 𝒔 𝜷 𝒔𝜸 𝒔 𝜶+𝒄 𝜶 𝒄 𝜸 𝒔 𝜷 𝒄 𝜸 𝒔 𝜶 − 𝒔 𝜸 𝒄 𝜶
−𝒔 𝜷 𝒄 𝜷 𝒔𝜸 𝒄 𝜷𝒄𝜸

We compare with

[ ]
𝒓 𝟏𝟏 𝒓 𝟏𝟐 𝒓 𝟏𝟑
𝑼
𝑩 𝑹= 𝒓 𝟐𝟏 𝒓 𝟐𝟐 𝒓 𝟐𝟑
𝒓 𝟑𝟏 𝒓 𝟑𝟐 𝒓 𝟑𝟑

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𝜶=𝐭𝐚𝐧
𝒓 𝟐𝟏
−𝟏
𝒓 𝟏𝟏( )
¿

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Denavit-Hartenberg Notations

• Proposed in the year 1955

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Link and Joint Parameters

• Length of linki (ai): It is the

mutual perpendicular distance
between Axisi-1 and Axisi

• Angle of twist of linki (): It is

defined as the angle between
Axisi-1 and Axisi

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 • Offset of linki (di): It is the distance
measured from a point where ai-1
intersects the Axisi-1 to the point where
ai intersects the Axisi-1 measured along
the said axis

• Joint Angle (θi): It is defined as the

angle between the extension of ai-1 and
Notes:
•Revolute joint: θi is variable ai measured about the Axisi-1
•Prismatic joint: di is variable

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Rules for Coordinate Assignment
• Zi is an axis about which the
rotation is considered or along
which the translation takes place

• If Zi-1 and Zi axes are parallel to

each other, X axis will be directed
from Zi-1 to Zi along their common
normal

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• If Zi-1 and Zi axes intersect each other
X axis can be selected along either of
two remaining directions

• If Zi-1 and Zi axes act along a straight

line, X axis can be selected anywhere
in a plane perpendicular to them

• Y axis is decided as Y = ZxX

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We have

𝒊 −𝟏
𝒊 𝑻 =𝒊 −𝑨𝟏𝑻 𝑨𝑩𝑻 𝑩𝑪𝑻 𝑪𝒊𝑻
¿ 𝑹𝑶𝑻 ( 𝒁 , 𝜽𝒊 ) 𝑻𝑹𝑨𝑵𝑺 ( 𝒁 , 𝒅 𝒊 ) 𝑹𝑶𝑻 ( 𝑿 ,𝜶 𝒊 ) 𝑻𝑹𝑨𝑵𝑺 ( 𝑿 , 𝒂 𝒊 )

¿𝑺𝒄𝒓𝒆 𝒘 𝒁 𝑺𝒄𝒓𝒆 𝒘 𝑿

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 [ ]
𝒄 𝜽 𝒊 − 𝒔 𝜽𝒊 𝒄 𝜶 𝒊 𝒔 𝜽 𝒊 𝒔 𝜶 𝒊 𝒂𝒊 𝒄 𝜽 𝒊
𝒊 −𝟏 𝒔 𝜽 𝒊 𝒄 𝜽𝒊 𝒄 𝜶 𝒊 − 𝒄 𝜽 𝒊 𝒔 𝜶 𝒊 𝒂𝒊 𝒔 𝜽 𝒊
𝒊𝑻 =
𝟎 𝒔 𝜶𝒊 𝒄 𝜶𝒊 𝒅𝒊
𝟎 𝟎 𝟎 𝟏

Now,

[ ]
𝒄 𝜽𝒊 𝒔 𝜽𝒊 𝟎 − 𝒂𝒊
− 𝒔 𝜽 𝒊 𝒄 𝜶 𝒊 𝒄 𝜽𝒊 𝒄 𝜶 𝒊 𝒔 𝜶 𝒊 − 𝒅 𝒊 𝒔 𝜶 𝒊
¿
𝒔 𝜽 𝒊 𝒔 𝜶𝒊 − 𝒄 𝜽 𝒊 𝒔 𝜶𝒊 𝒄 𝜶𝒊 − 𝒅𝒊 𝒄 𝜶𝒊
𝟎 𝟎 𝟎 𝟏

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Example 1

33
Forward Kinematics

34
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36
Inverse Kinematics

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