SCHOOL OF MECHATRONIC ENGINEERING

UNIVERSITI MALAYSIA PERLIS

ROBOT
KINEMATICS
“Forward and Inverse Kinematics”
“Differential Motions”

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Inverse Kinematics Solution

Inverse Kinematics

Numerical Analytic

Algebraic Geometric

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Geometrical Approach

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Geometrical Approach

¡1 l12 + c2 ¡ l22
® = cos
b = x ¡ l3 cos µ 2l1 c
a = y ¡ l3 sin µ ¡1 l12 + l22 ¡ c2
¯ = cos
a 2l1 l2
Á = tan¡1
b
where, c = a2 + b2
y ¡ l3 sin µ
= tan¡1
x ¡ l3 cos µ µ1 = Á § ®; µ2 = §(¯ ¡ ¼); µ3 = µ ¡ µ1 ¡ µ2

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Differential Motions
The end effector’s position can be determined by:
x = ½ cos µ; y = ½ sin µ
trajectory The time derivative of the position yields

dx @x d½ @x dµ
= +
dt @½ dt @µ dt
dy @y d½ @y dµ
= +
dt @½ dt @µ dt
Therefore,

x_ cos µ ¡½ sin µ ½_
=
y_ sin µ ½ cos µ µ_

r = (x; y)T

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Differential Motions

xB = l1 cos µ1 + l2 cos(µ1 + µ2 )
yB = l1 sin µ1 + l2 sin(µ1 + µ2 )

dxB = ¡l1 sin µ1 dµ1 ¡ l2 sin(µ1 + µ2 )(dµ1 + dµ2 )

dyB = l1 cos µ1 dµ1 + l2 cos(µ1 + µ2 )(dµ1 + dµ2 )

dxB ¡l1 sin µ1 ¡ l2 sin(µ1 + µ2 ) ¡l2 sin(µ1 + µ2 ) dµ1

=
dyB l1 cos µ1 + l2 cos(µ1 + µ2 ) l2 cos(µ1 + µ2 ) dµ2

Differential Jacobian Differential

motion of B motion of joints

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Jacobian
• Jacobian is a representation of the geometry of the elements of a
mechanism in time.
• Suppose, a set of equations Yi in terms of a set of variables xj

• The differential change in Yi for a differential change in xi is

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 Jacobian

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Jacobian

Defining the general form

trajectory

and the relationship between functions are

Thus,

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Jacobian
Thus the equation can be rewritten as

trajectory
And from the previous relation

Further derivation over time yields

Thus we can rewrite it as

where,

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 Jacobian

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Jacobian
The joint position

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Jacobian
The inverse Jacobian

where,

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Jacobian

Therefore, replacing q and r into above equations yield

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Singularity
There is no solution for the inverse kinematics if

this condition is called singularity

where,

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Singularity

Then the singularity is when

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