Beruflich Dokumente
Kultur Dokumente
Direct Kinematics:
The Arm Equation
Dr. Christian Herrmann
Prof. Dr. Klaus Schilling
www7.informatik.uni-wuerzburg.de
Chapter 2
Outline Robotics
2
Mathematical background
Vectors, matrices
Operations on vectors and matrices
Coordinates and coordinate frames
Transformations, fundamental rotations, composite rotations
Representation of rotations
Arm equation
Chapter 2
Notations Robotics
3
Notations
Column vector ∈ represented by 1 array, e.g. 3:
Transpose of vectors:
Set of vectors: Γ , ,…,
Matrices: matrix ∈ represented by array
/
Norm of a vector in : ⋅ ∑
Chapter 2
Mathematical Background Robotics
5
det
Furthermore:
sin
Chapter 2
Mathematical Background: Coordinates Robotics
6
Coordinates:
Let ∈ and , ,…, be a complete orthonormal set for .
Then the coordinates of with respect to are denoted as and are
implicitly defined by
⋅ ⋅ ⋅
⋅ ⋅ ⋅
Coordinate transformations:
Let , ,…, and , ,…, be orthonormal coordinate
frames for having the same origin. Let be the matrix defined by
⋅ for 1 , . Then it follows for each point ∈ :
Coordinate frames
of serial
manipulators
Fundamental rotations
Rotations of about unit vectors of coordinate frame
Chapter 2
Fundamental Rotations Robotics
11
1 0 0
0 cos sin
0 sin cos
cos 0 sin
0 1 0
sin 0 cos
cos sin 0
sin cos 0
0 0 1
Chapter 2
Fundamental Rotations Robotics
13
, 2 0 3 , ?
, 3 4 0 , ?
Chapter 2
Composite Rotations Robotics
14
Yaw-Pitch-Roll transformation
Let represent the composite rotation
matrix obtained by rotating a mobile frame
first about with a yaw of ,
then about with a pitch of ,
and finally about with a roll of .
[Proof]
Chapter 2
Euler Angles Transformation Robotics
16
Euler angles
Orientation of with respect to is specified by three angles, called Euler
angles: , , by the following rotations (Z,Y´,Z´´):
1. Rotation about (z axis) with angle
2. Rotation about (new y axis) with angle
3. Rotation about (new z axis) with angle
Note: This is one often used convention, but there are also other conventions
like Z,X´,Z´´
Chapter 2
Euler Angles Transformation Robotics
17
Homogeneous Coordinates
Let be a point in and let be an orthonormal coordinate frame for .
If is any nonzero scale factor, then the homogeneous coordinates of w.r.t.
to are denoted and defined by
1 .
Thus, homogeneous coordinates of ∈ are represented by a vector ∈
.
1 0 0 0
with 0 1 0 0.
0 0 1 0
with
∈ is a rotation matrix
∈ is a translation vector
∈ is a scaling factor (usually 1)
∈ is a perspective vector, here zero vector
Chapter 2
Homogenous Coordinate Frames Robotics
21
0
0
Rot ,
0
0 0 0 1
1 0 0
0 1 0
Tran
0 0 1
0 0 0 1
Chapter 2
Homogenous Coordinate Frames Robotics
22
0 0 0 1
[Proof]
Chapter 2
Homogenous Coordinate Frames Robotics
25
Screw Transformation
Let and be initially coincident fixed and mobile orthonormal coordinate
frames, respectively. If is translated along the -th unit vector of by a
displacement of and rotated about the -th unit vector of by an angle of ,
the resulting composite homogeneous screw transformation matrix is
Screw pitch:
2
given in threads per unit length.
Pure rotation: 0 ⇒ screw with infinite pitch
Pure translation: 0 ⇒ screw with zero pitch
Right-handed screw ⇒ positive
Chapter 2
Homogenous Coordinate Frames Robotics
27
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
33
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
34
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
35
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
36
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
37
Frame
Chapter 2
Denavit-Hartenberg Algorithm Robotics
38
Parameters depend on mechanical design, three of them are fixed for each
link/joint, variable one is called joint variable
with
0
0 0 0 1
Chapter 2
Arm Matrix Robotics
45
0 0 0 1
, , , ,…,
Chapter 2
Arm Equation Robotics
47
Arm equation:
0 0 0 1
Translation vector ∈
specifies the position of the tool tip
in relation to the base frame.
Chapter 2
Arm Equation Robotics
48
Axis Home ( )
1 26.04cm 0 /2 0
2 0 22.86cm 0 /2
3 0 22.86cm 0 /2
4 0 0.95cm /2 0
5 16.83cm 0 0 /2
0 0 0 0
0 0 0 0
0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
0
0 0 0 1
Chapter 2
Arm Equation Robotics
50
Computing :
0 0 0
0 0 0
0 1 0 0 0 0 1
0 0 0 1 0 0 0 1
0 0
0 0 0 1
Chapter 2
Arm Equation Robotics
51
0 0 0 1
Axis Home ( )
1 877mm 425mm 0
2 0 375mm 0 0
3 0 0 0 100mm
4 200mm 0 0 /2
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 1 0 0 1 0 0 0 1 0 0 1
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
0
0
0 0 1
0 0 0 1
Chapter 2
Arm Equation Robotics
54