Robot Kinematics Guide

INDUSTRIAL ROBOTICS Prof.
Bruno SICILIANO
KINEMATICS
relationship between joint positions and end-effector position

and orientation
Rotation matrix
Representations of orientation
Homogeneous transformations
Direct kinematics
Joint space and operational space
Kinematic calibration
Inverse kinematics problem

INDUSTRIAL ROBOTICS Prof. Bruno SICILIANO
POSE OF A RIGID BODY
Position
ox

o = oy
oz
Orientation
x = xx x + xy y + xz z
y = yx x + yy y + yz z
z = zx x + zy y + zz z
ROTATION MATRIX
xT x y T x z T x

R = x y z = xT y y T y z T y
xT z y T z z T z
RT R = I
RT = R1
Elementary rotations
rotation of about z

cos sin 0
Rz () = sin cos 0
0 0 1
rotation of about y

cos 0 sin
Ry () = 0 1 0
sin 0 cos
rotation of about x

1 0 0
Rx () = 0 cos sin
0 sin cos
Representation of a vector
px px

p = py p = py
pz pz
p = x y z p
= Rp
p = RT p
Example
px = px cos py sin
py = px sin + py cos
pz = pz
Rotation of a vector
p = Rp
pT p = pT RT Rp
Example
px = px cos py sin
py = px sin + py cos
pz = pz
p = Rz ()p
Rotation matrix
it describes the mutual orientation between two coordinate
frames; its column vectors are the direction cosines of the
axes of the rotated frame with respect to the original frame
it represents the coordinate transformation between the
coordinates of a point expressed in two different frames
(with common origin)
it is the operator that allows the rotation of a vector in the
same coordinate frame
COMPOSITION OF ROTATION MATRICES
p1 = R21 p2
p0 = R10 p1
p0 = R20 p2
Rij = (Rji )1 = (Rji )T
Current frame rotation
R20 = R10 R21
Fixed frame rotation
R20 = R21 R10

Example
EULER ANGLES
rotation matrix
9 parameters with 6 constraints
minimal representation of orientation

3 independent parameters
ZYZ angles
R() = Rz ()Ry ()Rz ()

c c c s s c c s s c c s
= s c c + c s s c s + c c s s
s c s s c
Inverse problem
Given
r11 r12 r13
R = r21 r22 r23
r31 r32 r33
the three ZYZ angles are ( (0, ))
= Atan2(r23 , r13 )
q
= Atan2 2 + r2 , r
r13 23 33
= Atan2(r32 , r31 )
or ( (, 0))
= Atan2(r23 , r13 )
q
= Atan2 r13 2 + r2 , r
23 33
= Atan2(r32 , r31 )
RPY angles
R() = Rz ()Ry ()Rx ()

c c c s s s c c s c + s s
= s c s s s + c c s s c c s
s c s c c
Inverse problem
Given
r11 r12 r13
R = r21 r22 r23
r31 r32 r33
the three RPY angles are ( (/2, /2))
= Atan2(r21 , r11 )
q
= Atan2 r31 , r32 2 + r2
33
= Atan2(r32 , r33 )
or ( (/2, 3/2))
= Atan2(r21 , r11 )
q
= Atan2 r31 , r32 2 + r2
33
= Atan2(r32 , r33 )
ANGLE AND AXIS
R(, r) = Rz ()Ry ()Rz ()Ry ()Rz ()
ry rx
sin = q cos = q
rx2 + ry2 rx2 + ry2
q
sin = rx2 + ry2 cos = rz

rx2 (1 c ) + c rx ry (1 c ) rz s
R(, r) = rx ry (1 c ) + rz s ry2 (1 c ) + c

rx rz (1 c ) ry s ry rz (1 c ) + rx s

rx rz (1 c ) + ry s
ry rz (1 c ) rx s
rz2 (1 c ) + c
R(, r) = R(, r)
Inverse problem
Given
r11 r12 r13
R = r21 r22 r23
r31 r32 r33
the angle and axis of rotation are (sin 6= 0)

r11 + r22 + r33 1
= cos 1
2

r r23
1 32
r= r13 r31
2 sin
r21 r12
with
rx2 + ry2 + rz2 = 1
UNIT QUATERNION
4-parameter representation Q = {, }

= cos
2

= sin r
2
2 + 2x + 2y + 2z = 1
(, r) and (, r) give the same quaternion
2( 2 + 2x ) 1

2(x y z ) 2(x z + y )
R(, ) = 2(x y + z ) 2( 2 + 2y ) 1 2(y z x )

2(x z y ) 2(y z + x ) 2( 2 + 2z ) 1
Inverse problem
Given
r11 r12 r13
R = r21 r22 r23
r31 r32 r33
the quaternion is ( 0)
1
= r11 + r22 + r33 + 1
2
sgn (r32 r23 ) r11 r22 r33 + 1
1
= sgn (r13 r31 ) r22 r33 r11 + 1

2
sgn (r21 r12 ) r33 r11 r22 + 1
quaternion extracted from R1 = RT
Q1 = {, }
quaternion product
Q1 Q2 = {1 2 T1 2 , 1 2 + 2 1 + 1 2 }
HOMOGENEOUS TRANSFORMATIONS
Coordinate transformation (translation + rotation)
p0 = o01 + R10 p1
Inverse transformation
p1 = R01 o01 + R01 p0

Homogeneous representation

p
=
p
1
Homogeneous transformation matrix

R10 o01
A01 =

0T 1
Coordinate transformation
0 = A01 p
p 1
Inverse transformation
1
p 0 = A01
1 = A10 p 0
p
ove
R01 R01 o01
A10 =

0T 1
A1 6= AT
Sequence of coordinate transformations
0 = A01 A12 . . . An1

p n n
p
DIRECT KINEMATICS
Manipulator
series of links connected by means of joints
Kinematic chain (from base to end-effector)

open (only one sequence)
closed (loop)
Degree of freedom
associated with a joint articulation = joint variable
Base frame and end-effector frame
Direct kinematics equation

nbe (q) sbe (q) abe (q) pbe (q)
Teb (q) =
0 0 0 1
Two-link planar arm

nbe sbe abe pbe
Teb (q) =
0 0 0 1
0 s12 c12 a1 c1 + a2 c12

0 c12 s12 a1 s1 + a2 s12
=
1 0 0 0

0 0 0 1
Open chain
Tn0 (q) = A01 (q1 )A12 (q2 ) . . . An1

n (qn )
Teb (q) = T0b Tn0 (q)Ten

DenavitHartenberg convention
choose axis zi along axis of Joint i + 1
locate Oi at the intersection of axis zi with the common normal

to axes zi1 and zi , and Oi at intersection of common normal
with axis zi1
choose axis xi along common the normal to axes zi1 and zi

with positive direction from Joint i to Joint i + 1
choose axis yi so as to complete right-handed frame

Nonunique definition of link frame:

for Frame 0, only the direction of axis z0 is specified:
then O0 and x0 can be chosen arbitrarily
for Frame n, since there is no Joint n + 1, zn is not uniquely
defined while xn has to be normal to axis zn1 ); typically
Joint n is revolute and thus zn can be aligned with zn1
when two consecutive axes are parallel, the common normal
between them is not uniquely defined
when two consecutive axes intersect, the positive direction
of xi is arbitrary
when Joint i is prismatic, only the direction of zi1 is
specified
DenavitHartenberg parameters
ai distance between Oi and Oi ;

di coordinate of Oi along zi1 ;
i angle between axes zi1 and zi about axis xi to be taken positive
when rotation is made counter-clockwise
i angle between axes xi1 and xi about axis zi1 to be taken
positive when rotation is made counter-clockwise
ai and i are always constant
if Joint i is revolute the variable is i
if Joint i is prismatic the variable is di

Coordinate transformation
ci si 0 0

s ci 0 0
Ai1
i = i
0 0 1 di

0 0 0 1
1 0 0 ai

0 ci si 0
Aii =
0 si ci 0

0 0 0 1
ci si ci si si ai ci

i1 i si ci ci ci si ai si
Ai1
i (q i ) = A i A i =
0 si ci di

0 0 0 1
Procedure
1. Find and number consecutively the joint axes; set the directions
of axes z0 , . . . , zn1
2. Choose Frame 0 by locating the origin on axis z0 ; axes x0 and
y0 are chosen so as to obtain a right-handed frame. If feasible,
it is worth choosing Frame 0 to coincide with the base frame
Execute steps from 3 to 5 for i = 1, . . . , n 1:
3. Locate the origin Oi at the intersection of zi with the common
normal to axes zi1 and zi . If axes zi1 and zi are parallel and
Joint i is revolute, then locate Oi so that di = 0; if Joint i is
prismatic, locate Oi at a reference position for the joint range,
e.g., a mechanical limit
4. Choose axis xi along the common normal to axes zi1 and zi
with direction from Joint i to Joint i + 1
5. Choose axis yi so as to obtain a right-handed frame
To complete:
6. Choose Frame n; if Joint n is revolute, then align zn with zn1 ,
otherwise, if Joint n is prismatic, then choose zn arbitrarily.
Axis xn is set according to step 4
7. For i = 1, . . . , n, form the table of parameters ai , di , i , i
8. On the basis of the parameters in 7, compute the homogeneous
transformation matrices Ai1
i (qi ) for i = 1, . . . , n
9. Compute the homogeneous transformation Tn0 (q) =
A01 . . . An1
n that yields the position and orientation of Frame n
with respect to Frame 0
10. Given T0b and Ten , compute the direct kinematics function as
Teb (q) = T0b Tn0 Ten that yields the position and orientation of
the end-effector frame with respect to the base frame
Threelink planar arm

Link ai i di i
1 a1 0 0 1
2 a2 0 0 2
3 a3 0 0 3
ci si 0 ai ci

s ci 0 ai si
Ai1
i = i i = 1, 2, 3
0 0 1 0

0 0 0 1
T30 = A01 A12 A23
c123 s123 0 a1 c1 + a2 c12 + a3 c123

s c123 0 a1 s1 + a2 s12 + a3 s123
= 123
0 0 1 0

0 0 0 1
Spherical arm
Link ai i di i
1 0 /2 0 1
2 0 /2 d2 2
3 0 0 d3 0
c1 0 s1 0 c2 0 s2 0

s 0 c1 0 s 0 c2 0
A01 = 1 A12 = 2
0 1 0 0 0 1 0 d2

0 0 0 1 0 0 0 1
1 0 0 0

0 1 0 0
A23 =
0 0 1 d3

0 0 0 1
T30 = A01 A12 A23
c1 c2 s1 c1 s2 c1 s2 d3 s1 d2

s c c1 s1 s2 s1 s2 d3 + c1 d2
= 1 2
s2 0 c2 c2 d3

0 0 0 1
Anthropomorphic arm
Link ai i di i
1 0 /2 0 1
2 a2 0 0 2
3 a3 0 0 3
c1 0 s1 0

s 0 c1 0
A01 = 1
0 1 0 0

0 0 0 1
ci si 0 ai ci

s ci 0 ai si
Ai1
i = i i = 2, 3
0 0 1 0

0 0 0 1
T30 = A01 A12 A23
c1 c23 c1 s23 s1 c1 (a2 c2 + a3 c23 )

s c s1 s23 c1 s1 (a2 c2 + a3 c23 )
= 1 23
s23 c23 0 a2 s2 + a3 s23

0 0 0 1
Spherical wrist
Link ai i di i
4 0 /2 0 4
5 0 /2 0 5
6 0 0 d6 6
c4 0 s4 0 c5 0 s5 0

s 0 c4 0 s 0 c5 0
A34 = 4 A45 = 5
0 1 0 0 0 1 0 0

0 0 0 1 0 0 0 1
c6 s6 0 0

s c6 0 0
A56 = 6
0 0 1 d6

0 0 0 1
T63 = A34 A45 A56
c4 c5 c6 s4 s6 c4 c5 s6 s4 c6 c4 s5 c4 s5 d6

s c c + c4 s6 s4 c5 s6 + c4 c6 s4 s5 s4 s5 d6
= 4 5 6
s5 c6 s5 s6 c5 c5 d6

0 0 0 1
Stanford manipulator

n0 s0 a0 p0
T60 = T30 T63 =
0 0 0 1

c1 s2 d3 s1 d2 + c1 (c2 c4 s5 + s2 c5 ) s1 s4 s5 d6
0
p = s1 s2 d3 + c1 d2 + s1 (c2 c4 s5 + s2 c5 ) + c1 s4 s5 d6
c2 d3 + (s2 c4 s5 + c2 c5 )d6

c1 c2 (c4 c5 c6 s4 s6 ) s2 s5 c6 s1 (s4 c5 c6 + c4 s6 )
n0 = s1 c2 (c4 c5 c6 s4 s6 ) s2 s5 c6 + c1 (s4 c5 c6 + c4 s6 )
s2 (c4 c5 c6 s4 s6 ) c2 s5 c6

c1 c2 (c4 c5 s6 + s4 c6 ) + s2 s5 s6 s1 (s4 c5 s6 + c4 c6 )
s0 = s1 c2 (c4 c5 s6 + s4 c6 ) + s2 s5 s6 + c1 (s4 c5 s6 + c4 c6 )
s2 (c4 c5 s6 + s4 c6 ) + c2 s5 s6

c1 (c2 c4 s5 + s2 c5 ) s1 s4 s5
a0 = s1 (c2 c4 s5 + s2 c5 ) + c1 s4 s5
s2 c4 s5 + c2 c5
Anthropomorphic arm with spherical wrist

Link ai i di i
1 0 /2 0 1
2 a2 0 0 2
3 0 /2 0 3
4 0 /2 d4 4
5 0 /2 0 5
6 0 0 d6 6
c3 0 s3 0 c4 0 s4 0

s 0 c3 0 s 0 c4 0
A23 = 3 A34 = 4
0 1 0 0 0 1 0 d4

0 0 0 1 0 0 0 1

a2 c1 c2 + d4 c1 s23 + d6 c1 (c23 c4 s5 + s23 c5 ) + s1 s4 s5
p0 = a2 s1 c2 + d4 s1 s23 + d6 s1 (c23 c4 s5 + s23 c5 ) c1 s4 s5
a2 s2 d4 c23 + d6 (s23 c4 s5 c23 c5 )

c1 c23 (c4 c5 c6 s4 s6 ) s23 s5 c6 + s1 (s4 c5 c6 + c4 s6 )
0
n = s1 c23 (c4 c5 c6 s4 s6 ) s23 s5 c6 c1 (s4 c5 c6 + c4 s6 )
s23 (c4 c5 c6 s4 s6 ) + c23 s5 c6

c1 c23 (c4 c5 s6 + s4 c6 ) + s23 s5 s6 + s1 (s4 c5 s6 + c4 c6 )
s0 = s1 c23 (c4 c5 s6 + s4 c6 ) + s23 s5 s6 c1 (s4 c5 s6 + c4 c6 )
s23 (c4 c5 s6 + s4 c6 ) c23 s5 s6

c1 (c23 c4 s5 + s23 c5 ) + s1 s4 s5
a0 = s1 (c23 c4 s5 + s23 c5 ) c1 s4 s5
s23 c4 s5 c23 c5
DLR manipulator
Link ai i di i
1 0 /2 0 1
2 0 /2 0 2
3 0 /2 d3 3
4 0 /2 0 4
5 0 /2 d5 5
6 0 /2 0 6
7 0 0 d7 7
ci 0 si 0

si 0 ci 0
Ai1
i =
0
i = 1, . . . , 6
1 0 di
0 0 0 1
c7 s7 0 0

6
s7 c7 0 0
A7 =
0

0 1 d7
0 0 0 1

d3 xd3 + d5 xd5 + d7 xd7
p07 = d3 yd3 + d5 yd5 + d7 yd7
d 3 zd3 + d 5 zd5 + d 7 zd7
xd3 = c1 s2
xd5 = c1 (c2 c3 s4 s2 c4 ) + s1 s3 s4
xd7 = c1 (c2 k1 + s2 k2 ) + s1 k3
yd3 = s1 s2
yd5 = s1 (c2 c3 s4 s2 c4 ) c1 s3 s4
yd7 = s1 (c2 k1 + s2 k2 ) c1 k3
zd3 = c2
zd5 = c2 c4 + s2 c3 s4
zd7 = s2 (c3 (c4 c5 s6 s4 c6 ) + s3 s5 s6 ) c2 k2
k1 = c3 (c4 c5 s6 s4 c6 ) + s3 s5 s6
k2 = s4 c5 s6 + c4 c6
k3 = s3 (c4 c5 s6 s4 c6 ) c3 s5 s6

((xa c5 + xc s5 )c6 + xb s6 )c7 + (xa s5 xc c5 )s7
n07 = ((ya c5 + yc s5 )c6 + yb s6 )c7 + (ya s5 yc c5 )s7
(za c6 + zc s6 )c7 + zb s7
((xa c5 + xc s5 )c6 + xb s6 )s7 + (xa s5 xc c5 )c7

((ya c5 + yc s5 )c6 + yb s6 )s7 + (ya s5 yc c5 )c7
s07 =
(za c6 + zc s6 )s7 + zb c7

(xa c5 + xc s5 )s6 xb c6
a07 = (ya c5 + yc s5 )s6 yb c6
za s6 zc c6
xa = (c1 c2 c3 + s1 s3 )c4 + c1 s2 s4
xb = (c1 c2 c3 + s1 s3 )s4 c1 s2 c4
xc = c1 c2 s3 s1 c3
ya = (s1 c2 c3 c1 s3 )c4 + s1 s2 s4
yb = (s1 c2 c3 c1 s3 )s4 s1 s2 c4
yc = s1 c2 s3 + c1 c3
za = (s2 c3 c4 c2 s4 )c5 + s2 s3 s5
zb = (s2 c3 s4 + c2 c4 )s5 s2 s3 c5
zc = s2 c3 s4 + c2 c4
se 7 = /2
c7 0 s7 a7 c7

6
s7 0 c7 a7 s7
A7 =
0

0 1 0
0 0 0 1
Humanoid manipulator
Arms consisting of two DLR manipulators (7 = /2)
Connecting device between the end-effector of the anthropomorphic

torso and the base frames of the two manipulators
permits keeping the chest of the humanoid manipulator
always orthogonal to the ground (4 = 2 3 )
Direct kinematics
0
Trh = T30 Tt3 Trt Trh
r
0
Tlh = T30 Tt3 Tlt Tlh
l
c23 s23 0 0

s c23 0 0
Tt3 = 23
0 0 1 0

0 0 0 1
T30 like for anthropomorphic manipulator

Trt and Tlt depend on
r l
Trh and Tlh like for DLR manipulator
JOINT SPACE AND OPERATIONAL SPACE
Joint space
q1

.
q = ..
qn
qi = i (revolute joint)
qi = di (prismatic joint)
Operational space

p
x=

p (position)
(orientation)
Direct kinematics equation
x = k(q)
Example

px a1 c1 + a2 c12 + a3 c123
x = py = k(q) = a1 s1 + a2 s12 + a3 s123
1 + 2 + 3
Workspace
Reachable workspace
p = p(q) qim qi qiM i = 1, . . . , n
surface elements of planar, spherical, toroidal and

cylindrical type
Dexterous workspace
different orientations
Example
admissible configurations
workspace
Accuracy
deviation between the position reached in the assigned
posture and the position computed via direct kinematics
typical values: (0.2, 1) mm
Repeatability
measure of manipulators ability to return to a previously
reached position
typical values: (0.02, 0.2) mm
Kinematic redundancy
m < n (intrinsic)
r < m = n (functional)
KINEMATIC CALIBRATION
Accurate estimates of DH parameters to improve manipulator

accuracy
Direct kinematics equation as a function of all parameters
x = k(a, , d, )
xm measured pose
xn nominal pose (fixed parameters + joint variables)
k k k k
x = a + + d +
a d
= (n )
l measurements (lm 4n)
x1 1

. .
x = .. = .. =

xl l
Solution
= ( T
1
T ) x
= n +
. . . until converges
more accurate estimates of fixed parameters

corrections on transducers measurements
Start-up
(Home) reference posture

INVERSE KINEMATICS PROBLEM
Direct kinematics
q = T
q = x
Inverse kinematics
T = q
x = q
Complexity
closed-form solution
multiple solutions
infinite solutions
no admissible solutions
Intuition
algebraic
geometric
Numerical techniques
Solution of threelink planar arm
Algebraic solution
= 1 + 2 + 3
pW x = px a3 c = a1 c1 + a2 c12
pW y = py a3 s = a1 s1 + a2 s12
p2W x + p2W y a21 a22

c2 =
2a1 a2
q
s2 = 1 c22
2 = Atan2(s2 , c2 )
(a1 + a2 c2 )pW y a2 s2 pW x
s1 =
p2W x + p2W y
(a1 + a2 c2 )pW x + a2 s2 pW y
c1 =
p2W y + p2W y
1 = Atan2(s1 , c1 )
3 = 1 2
Geometric solution
p2W x + p2W y a21 a22

c2 = .
2a1 a2
2 = cos 1 (c2 )
= Atan2(pW y , pW x )
q
c p2W x + p2W y = a1 + a2 c2

1
p2W x + p2W y + a21 a22
= cos q
2a1 p2W x + p2W y
1 =
Solution of manipulators with spherical wrist
pW = p d6 a
Decoupled solution
compute wrist position pW (q1 , q2 , q3 )
solve inverse kinematics for (q1 , q2 , q3 )
compute R30 (q1 , q2 , q3 )
compute R63 (4 , 5 , 6 ) = R30 T R
solve inverse kinematics for orientation (4 , 5 , 6 )
Solution of spherical arm
(A01 )1 T30 = A12 A23

pW x c1 + pW y s1 d3 s2
p1W = pW z = d3 c2
pW x s1 + pW y c1 d2
1 t2 2t
c1 = s1 =
1 + t2 1 + t2
(d2 + pW y )t2 + 2pW x t + d2 pW y = 0
q
2 2 2
1 = 2Atan2 pW x pW x + pW y d2 , d2 + pW y
pW x c1 + pW y s1 d3 s2
=
pW z d3 c2
2 = Atan2(pW x c1 + pW y s1 , pW z )
q
d3 = (pW x c1 + pW y s1 )2 + p2W z
Solution of anthropomorphic arm
pW x = c1 (a2 c2 + a3 c23 )
pW y = s1 (a2 c2 + a3 c23 )
pW z = a2 s2 + a3 s23
p2W x + p2W y + p2W z a22 a23

c3 =
2a2 a3
q
s3 = 1 c23
3 = Atan2(s3 , c3 )

3,I [, ]
3,II = 3,I
q
p2W x + p2W y (a2 + a3 c3 ) + pW z a3 s3
c2 =
a22 + a23 + 2a2 a3 c3
q
pW z (a2 + a3 c3 ) p2W x + p2W y a3 s3
s2 =
a22 + a23 + 2a2 a3 c3
2 = Atan2(s2 , c2 )

p
for s+
3 = 1 c23 :
q
2,I = Atan2 (a2 + a3 c3 )pW z a3 s+
p2W x + p2W y ,
3
q
2 2 +
(a2 + a3 c3 ) pW x + pW y + a3 s3 pW z
q
+
2,II = Atan2 (a2 + a3 c3 )pW z + a3 s3 p2W x + p2W y ,
q
2 2 +
(a2 + a3 c3 ) pW x + pW y + a3 s3 pW z
p
for s
3 = 1 c23 :
q

2,III = Atan2 (a2 + a3 c3 )pW z a3 s3 p2W x + p2W y ,
q
2 2
(a2 + a3 c3 ) pW x + pW y + a3 s3 pW z
q

2,IV = Atan2 (a2 + a3 c3 )pW z + a3 s3 p2W x + p2W y ,
q
2 2
(a2 + a3 c3 ) pW x + pW y + a3 s3 pW z
1,I = Atan2(pW y , pW x )
1,II = Atan2(pW y , pW x )
Four admissible configurations
(1,I , 2,I , 3,I ) (1,I , 2,III , 3,II )

(1,II , 2,II , 3,I ) (1,II , 2,IV , 3,II )
infinite solutions (kinematic singularity)
pW x = 0 pW y = 0
Solution of spherical wrist
n3x s3x a3x

R63 = n3y s3y a3y

n3z s3z a3z
4 = Atan2(a3y , a3x )
q
3
5 = Atan2 (a3x )2 + (a3y )2 , az
6 = Atan2(s3z , n3z )
4 = Atan2(a3y , a3x )
q
3
5 = Atan2 (a3x )2 + (a3y )2 , az
6 = Atan2(s3z , n3z )

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INDUSTRIAL ROBOTICS Prof.

relationship between joint positions and end-effector position

Joint space and operational space

Inverse kinematics problem

POSE OF A RIGID BODY

COMPOSITION OF ROTATION MATRICES

Rij = (Rji )1 = (Rji )T

Current frame rotation

R20 = R10 R21

Fixed frame rotation

R20 = R21 R10

minimal representation of orientation

R() = Rz ()Ry ()Rz ()

the three ZYZ angles are ( (0, ))

R() = Rz ()Ry ()Rx ()

the three RPY angles are ( (/2, /2))

ANGLE AND AXIS

R(, r) = Rz ()Ry ()Rz ()Ry ()Rz ()

the angle and axis of rotation are (sin 6= 0)

(, r) and (, r) give the same quaternion

quaternion extracted from R1 = RT

Coordinate transformation (translation + rotation)

p1 = R01 o01 + R01 p0

Homogeneous transformation matrix

Sequence of coordinate transformations

0 = A01 A12 . . . An1

Kinematic chain (from base to end-effector)

Base frame and end-effector frame

Direct kinematics equation

Two-link planar arm

Tn0 (q) = A01 (q1 )A12 (q2 ) . . . An1

Teb (q) = T0b Tn0 (q)Ten

choose axis zi along axis of Joint i + 1

locate Oi at the intersection of axis zi with the common normal

choose axis xi along common the normal to axes zi1 and zi

choose axis yi so as to complete right-handed frame

Nonunique definition of link frame:

ai distance between Oi and Oi ;

ai and i are always constant

if Joint i is revolute the variable is i

if Joint i is prismatic the variable is di

Threelink planar arm

T30 = A01 A12 A23

c123 s123 0 a1 c1 + a2 c12 + a3 c123

T30 = A01 A12 A23

T30 = A01 A12 A23

c1 c23 c1 s23 s1 c1 (a2 c2 + a3 c23 )

T63 = A34 A45 A56

Anthropomorphic arm with spherical wrist

Arms consisting of two DLR manipulators (7 = /2)

Connecting device between the end-effector of the anthropomorphic

T30 like for anthropomorphic manipulator

JOINT SPACE AND OPERATIONAL SPACE

Direct kinematics equation

p = p(q) qim qi qiM i = 1, . . . , n

surface elements of planar, spherical, toroidal and

Accurate estimates of DH parameters to improve manipulator

Direct kinematics equation as a function of all parameters

xn nominal pose (fixed parameters + joint variables)

l measurements (lm 4n)

more accurate estimates of fixed parameters

(Home) reference posture