Dr. S.

Sanyal, Associate Professor,

Mechanical Engineering Department, NIT Raipur
1
Contents
Brief history
Few clips
Areas of application
Robotic Manipulator
Robot Configurations
Robot Kinematics
Basics of Forward & Inverse Kinematics
Coordinate transformation
2
~ 322 B.C.
The Greek philosopher
Aristotle writes...
If every tool, when
ordered, or even of its own
accord, could do the work
that befits it... then there
would be no need either of
apprentices for the master
workers or of slaves for the
lords.
...hinting how nice it
would be to have a few
robots around.
3
Greek philosopher Aristotle
1920 - Word Robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rossums Universal
Robots (RUR).
Robota in Czech is a word for
worker or servant.
After this play, electromechanical
automatons were referred to as
robots.
4
Brief history
Karel Capek
Isaac Asimov (1920-1992), the author,
who in his lifetime wrote over 500
books that enlightened, entertained,
and spanned the realm of human
knowledge.
1941: Isaac Asimov first uses the term
'robotics' to describe the technology
of robots. He predicted the rise of the
robot industry.



5
Issac Asimov's most important
contribution to the history of
the robot is the creation of his
Three Laws of Robotics
Three Laws of Robotics
1. A robot may not injure a human being, or, through
inaction, allow a human being to come to harm.
2. A robot must obey the orders given to it by human
beings except where such orders would conflict with the
First Law.
3. A robot must protect its own existence as long as
such protection does not conflict with the First or
Second Law.
Asimov later adds a "zeroth law" to the list:
Zeroth law: A robot may not injure humanity, or,
through inaction, allow humanity to come to harm.

6
1956 - Aided by a grant from the
Rockefeller Foundation John
McCarthy, Marvin Minsky , Nat
Rochester and Claude Shenon
organize The Dartmouth Summer
Research Project on Artificial
Intelligence at Dartmouth College.
The term "artificial intelligence" is
coined as a result of this conference.

1959 - John McCarthy and Marvin
Minsky start the Artificial Intelligence
Laboratory at the Massachusetts
Institute of Technology (MIT).
7
John McCarthy
Marvin Minsky
1954: The first industrial robot: UNIMATE
robot is designed by George Devol.
1962: General Motors installs the first industrial
robot on a production line. It is a Unimate robot
and is used in a car factory run by General Motors
in Trenton, New Jersey. The robot lifted hot pieces
of metal from a die-casting machine and stacked
them.

8
Unimate robot
1963: John McCarthy
leaves MIT to start the
Artificial Intelligence
Laboratory at Stanford
University.
1966 - The Stanford
Research Institute
creates Shakey the first
mobile robot to know and
react to its own actions.

9
Shakey
1969 - Victor Scheinman, a
Mechanical Engineering
student working in the
Stanford Artificial
Intelligence Lab (SAIL)
creates the Stanford Arm.
The arm's design becomes a
standard and is still
influencing the design of
robot arms today.
1974 - Victor Scheinman
forms his own company and
starts marketing the Silver
Arm. It is capable of
assembling small parts
together using touch
sensors.
10
Victor Scheinman
1967
Richard Greenblatt writes, MacHack, a
program that plays chess, in response to
a article written by Hurbert Dreyfus
where he suggests, as a critique to
efforts in artificial intelligence, that a
computer program could never beat
him in a game of chess.
When Dreyfus is invited to play the
computer, he ultimately loses in the end
in a close match.
Greenblatt's program would be the
foundation for many future chess
programs, ultimately culminating in
Big Blue the chess program by IBM
that beats chess Grand Master Gary
Kasparov.
11
12
1968
Stanley Kubrick makes Arthur C. Clarks 2001: A Space
Odyssey into a movie. It features HAL, an onboard
computer that decides it doesn't need its human
counterparts any longer.
1970
In the winter of 1970, the Soviet Union explores the
surface of the moon with the lunar vehicle Lunokhod 1,
the first roving remote-controlled robot to land on
another world.
German based company KUKA built the world's first
industrial robot with six electromechanically driven
axes, known as FAMULUS.
Clip 1 - starwars
13
1977
Star Wars is released. George
Lucas movie about a universe
governed by the force. The
movie creates the strongest
image of a human future with
robots since the 1960's and
inspires a generation of
researchers. The Empire Strikes
Back , Return of the Jedi.
1977
Deep space explorer Voyagers
1 and 2 launch from the
Kennedy Space Flight Center.
14
1978 - The Puma Programmable Universal Machine for
Assembly robot is developed by Unimation with a General
Motors design support


15
1986
LEGO and the MIT Media Lab collaborate to
bring the first LEGO based educational
products to market.
LOGO is used by in the classrooms of
thousands of elementary school teachers.
1986
Honda begins a robot research program that
starts with the promise that the robot
"should coexist and cooperate with human
beings,
by doing what a person cannot do and
by cultivating a new dimension in mobility to
ultimately benefit society."

16
1992
Dr. John Adler came up with the concept of the
Cyber Knife a robot that images the patient with x-
rays to look for a tumor and delivering a pre-planned
dose of radiation to the tumor when found.
CyberKnife System FDA Clearance August 2001
To provide treatment planning and image-guided
radio surgery and precision radiotherapy for
lesions, tumors, and conditions anywhere in the
body when radiation treatment is indicated.
17
Synchrony

camera
Treatment couch
Linear
accelerator
Manipulator
Image
detectors
X-ray sources
Targeting System
Robotic Delivery System
18
Cyber Knife
19
1993
Dante an 8-legged walking robot
developed at Carnegie Mellon
University descends into Mt.
Erebus, Antarctica.
Its mission was to collect data from
a harsh environment similar to what
we might find on another planet.
The mission fails when, after a short
20 foot decent, Dante's tether snaps
dropping it into the crater.
1994
Dante II, a more robust version of its
predecessor, descends into the
crater of Alaskan volcano Mt. Spurr.
The mission is considered a
success.
Dante II
1996
A Robo Tuna is designed and built by David Barrett for his
doctoral thesis at MIT. It is used to study the way fish swim.
1997
The first node of the International Space Station is placed
in orbit. Over the next several years more components will
join it, including a Robotic Arm CANADAARM designed
by Canadian company MD Robotics.
1997
The Pathfinder Mission lands on Mars. Its robotic rover
Sojourner, rolls down a ramp and onto Martian soil in
early July. It continues to broadcast data from the Martian
surface until September.
2003
June 10th - NASA launches the MER-A "Spirit" rover
destined for Mars.
July 7th - NASA launches the MER-B "Opportunity".

20
Mars Pathfinder panorama of landing site taken by IMP
Sojourner rover on Mars
Pathfinder and Sojourner
21
1999
SONY releases the AIBO robotic pet.
2000
Honda debuts new humanoid robot ASIMO.
2002
Honda's ASIMO robot rings the opening bell at
the New York Stock Exchange.
2003
SONY releases the AIBO ERS-7 it's 3rd generation
robotic pet.
22
What is a Robot ?
A robot is a reprogrammable,
multifunctional manipulator designed to
move material, parts, tools or specialized
devices through variable programmed
motions for the performance of a variety of
tasks. Robot Institute of America, 1979
23
Robot Subsystems
24
Manipulators components
Robotic arms, industrial robot
Rigid bodies (links) connected by
joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted on a
flange or plate secured to the wrist
joint of robot
Actuators and drive
Sensors and transducers
Computer and Electronics
Education via software
25
Why do we use robots?
They perform tasks in 4D
environments
4D: Dangerous, Dirty, Dull,
Difficult

26
Dangerous -
Cleaning
pump
housing in
the nuclear
power plant
Welding Robot
Difficult, Dull - Repetitive jobs
that are boring, stressful, or
labor-intensive for humans
Decontaminating Robot
The SCRUBMATE Robot
Dirty -
Menial tasks
that human
dont want to
do
Applications
Automotive industry
Assembly
Medical laboratories
Medicine
Nuclear energy
Agriculture
Spatial exploration
Underwater inspection
Customer service
Arts and entertainment
27
Types of robots
Wheeled Robot Legged Robot
28
Types of robots
Unmanned Aerial Vehicle Autonomous Underwater Vehicle
29
Types of robots
Manipulator
30
NASA Space Station
Robots in Space
31









The Shuttle Remote Manipulator System (SRMS),
Canadarm (Canadarm 1), is a mechanical arm used on
the Space Shuttle to maneuver a payload from the payload
bay of the orbiter to its deployment position and then release
it.
First used on the second Space Shuttle mission STS-2,
launched November 13, 1981.
Since the destruction of Space Shuttle
Columbia during STS-107, NASA has outfitted the
Canadarm with the Orbiter Boom Sensor System, a boom
containing instruments to inspect the exterior of the shuttle
for damage to the thermal protection system.
Robotic Arm in Space
32
33
Canadarm1 viewed from the window of space shuttle
Canadarm

34
CANADAARM Mission Example: Hubble
Space Telescope Repair (Dec 1993)
TROV in Antarctica
operating under water
HAZBOT operating in
atmospheres containing
combustible gases
Robots in Hazardous Environments
35
Robotic assistant for
micro surgery
Medical Robots
36
Sony Aibo
Sony SDR-3X Entertainment Robot
Robots at Home
37
Robot Classification
38
Arm Configuration
Cartesian Robot (PPP):
Has three linear axes of
motion.
The work envelope is a cuboid.
Simpler controls.
High degree of mechanical
rigidity, accuracy, and
repeatability.
Can carry heavy loads.
Maintenance more difficult
with overhead drive
mechanisms and control
equipment.
39
CYLINDRICAL (RPP):
Has two linear motions and one
rotary motion.
Results in a larger work envelope than
a rectangular robot manipulator.
Suited for pick-and-place operations.
It can reach into tight areas without
sacrificing speed or repeatability.
Capable of carrying large payloads.
Vertical structure conserves floor
space.
Mechanical rigidity is lower
Repeatability and accuracy are also
lower in the direction of rotary motion.
Their configuration requires a more
sophisticated control system than the
rectangular robots.
40
Spherical Robots
Has one linear motion and two
rotary motions.
The work volume is like a
section of sphere.
A spherical-coordinated robots
provides a larger work envelope
than the rectilinear or cylindrical
robot.
Advantages and disadvantages
same as cylindrical-coordinated
design.

41
Articulated Arm Robot
Articulated arm robots
have at least three rotary
joints. They are
frequently called an
anthropomorphic arm
because they closely
resemble a human arm.
42
SCARA Robots
SCARA robots, or Selective Compliance
Assembly Robot Arm, are a combination of
the articulated arm and the cylindrical robot.
43
Parallel Robots
Parallel Robots
consist of a fixed base
to a platform by means
of a number of legs.
This is used to create
realistic flight
simulators or rides in
amusement parks.
Emil Decker, 2009
44
45
Robot Kinematics
(Kinematics - studies the motion of bodies)
Robot::Body
Typically defined as a graph of links and joints:
A link is a part, a shape
with physical properties.
A joint is a constraint on
the spatial relations of two
or more links.
Types of Joints






Respectively, a ball joint, which allows
rotation around x, y, and z, a hinge joint,
which allows rotation around z, and a slider
joint, which allows translation along x.
These are just a few examples
Degrees of Freedom
Joints constraint free movement, measured in
Degrees of Freedom (DOFs).
Links start with 6 DOFs, translations and rotations
around three axes.
Joints reduce the number of DOFs by constraining
some translations or rotations.
Robots classified by total number of DOFs

Degrees of Freedom
The PUMA 560 has SIX revolute joints
1
2
3
4
There are two more
joints on the end effector
(the gripper)
49
DOF- Other basic joints
Spherical Joint
3 DOF ( Variables - Y
1
, Y
2
, Y
3
)
Revolute Joint
1 DOF ( Variable - Y)
Prismatic Joint
1 DOF (linear) (Variables - d)
50
Forward Kinematics
51
52
Forward Kinematics ?
Forward kinematics

Given joint variables





End- effector position and orientation, -Formula?
(x,y,z-position, n,o,a-normal, orientation, approach)
) , , , , , , (
6 5 4 3 2 1 n
q q q q q q q q =
) , , , , , ( a o n z y x Y =
x
y
z
The Situation:
A robotic arm that starts out aligned
with the x
o
-axis.
the first link moves by Y
1
and the
second link moves by Y
2
.
The Quest:
What is the position of the end of the
robotic arm?
Solution:
1. Geometric Approach
For robots with more links and whose arm extends into 3 dimensions
the geometry gets much more tedious.
2. Algebraic Approach
Involves coordinate transformations.
Forward kinematics
53
54
Inverse Kinematics
IK
End effectors position and orientation




Joint variables -Formula?
) , , , , , , (
6 5 4 3 2 1 n
q q q q q q q q =
) , , , , , ( a o n z y x
x
y
z
Y
2

Y
1

(x , y)
l
2

l
1

IK Problem 2 link planar manipulator
Given: l
1
, l
2
, x , y
Find: Y
1
,

Y
2
Redundancy:
A unique solution to this problem does
not exist. Notice, that two solutions are
possible. Sometimes no solution is possible.

(x , y)

Inverse Kinematics
55
The Geometric Solution of IK
l
1

l
2

Y
2

Y
1

o
(x , y)
Using the Law of Cosines:
|
|
.
|

\
|
+
=
+
=
=
+ = +
+ =
2 1
2
2
2
1
2 2
2 1
2
2
2
1
2 2
2 1
2
2
2
1
2 2
2 2 2
2
arccos
2
) cos(
) cos( ) 180 cos(
) 180 cos( 2 ) (
cos 2
l l
l l y x
l l
l l y x
l l l l y x
C ab b a c
2
2
2 2
2
Using the Law of sines:
|
.
|

\
|
=
+ =
+
=
+

=
=
x
y
2 arctan

y x
) sin(
y x
) sin(180 sin
sin sin
1 1
2 2
2
2 2
2
2
1
l
c
C
b
B
|
.
|

\
|
+
|
|
.
|

\
|
+
=
x
y
2 arctan
y x
) sin(
arcsin
2 2
2 2
1
l
Redundancy caused since u
2
has two
possible values
56
( ) ( )
( )
|
|
.
|

\
|
+
=
+ + =
+ + + =
+ + + + + =
= + = +
+ +
+ + + +
2 1
2
2
2
1
2 2
2
2 2 1
2
2
2
1
2 1 1 2 1 1 2 1
2
2
2
1
2 1 1 2 1
2
2 1
2
2
2
1
2
1 2 1 1 2 1
2
2 1
2
2
2
1
2
1
2 2 2 2
2
y x
arccos
c 2
) (sin s ) (c c 2
) (sin s 2 ) (sin s ) (c c 2 ) (c c
y x ) 2 ( (1)
l l
l l
l l l l
l l l l
l l l l l l l l
The Algebraic Solution for IK
l
1

l
2

Y
2

Y
1

Y
(x , y)
) ( cos c
cos c
(3)
(2) sin s y
(1) c c x
1 2 2 1
1 1
2 1
2 1 2 1 1
2 1 2 1 1
+ =
=
+ =
+ =
+ =
+
+
+
l l
l l
Only
Unknown
) )(sin (cos ) )(sin (cos ) sin(
) )(sin (sin ) )(cos (cos ) cos(
:
a b b a b a
b a b a b a
Note
+

+
+

=
=
57
58
Preliminary
Robot Reference Frames
World frame
Joint frame
Tool frame
x
y
z
x
z
y
W
R
P
T
59
60
Preliminary
Mutually perpendicular

Unit vectors
Properties of orthonormal coordinate frame
0
0
0
=
=
=
j k
k i
j i

1 | |
1 | |
1 | |
=
=
=
k
j
i

Properties: Dot Product

Let and be arbitrary vectors in and be
the angle from to , then



3
R
u
u cos y x y x =
x
y
x
y
61
Coordinate Transformation
Reference coordinate frame OXYZ
Body-attached frame Ouvw
Point represented in OXYZ



Point represented in Ouvw
w v u
k j i
w v u uvw
p p p P + + =

z y x
k j i
z y x xyz
p p p P + + =

x
y
z
P
u
v
w
O, O
z w y v x u
p p p p p p = = =
T
z y x xyz
p p p P ] , , [ =
Two frames coincide ==>
62
Coordinate Transformation
Rotation only
w v u
k j i
w v u uvw
p p p P + + =

z y x
k j i
z y x xyz
p p p P + + =

uvw xyz
RP P =
How to relate the coordinate in these two frames?
w
x
y
z
P
u
v
Coordinate Transformation
63
Basic Rotation
,, and represent the projections of onto OX,
OY, OZ axes, respectively
Since

x
p
P
y
p
z
p
w v u x
p p p P p
w x v x u x x
k i j i i i i + + = =
w v u y
p p p P p
w y v y u y y
k j j j i j j + + = =
w v u z
p p p P p
w z v z u z z
k k j k i k k + + = =
w v u
k j i
w v u
p p p P + + =
Coordinate Transformation
64
Basic Rotation Matrix




Rotation about x-axis with

(
(
(

(
(
(

=
(
(
(

w
v
u
z
y
x
p
p
p
p
p
p
w z v z u z
w y v y u y
w x v x u x
k k j k i k
k j j j i j
k i j i i i
x
z
y
v
w
P
u
u
(
(
(

=
u u
u u u
C S
S C x Rot
0
0
0 0 1
) , (
u
65
Rotation about axis
Rotation about x axis with

u u
u u
u u
u u
cos sin
sin cos
cos sin 0
sin cos 0
0 0 1
w v z
w v y
u x
w
v
u
z
y
x
p p p
p p p
p p
p
p
p
p
p
p
+ =
=
=
(
(
(

(
(
(

=
(
(
(

x
z
y
v
w
P
u
u
u
66
Basic Rotation Matrices
Rotation about x-axis with


Rotation about y-axis with



Rotation about z-axis with



uvw xyz
RP P =
(
(
(

=
u u
u u u
C S
S C x Rot
0
0
0 0 1
) , (

0
0 1 0
0
) , (
(
(
(

=
u u
u u
u
C S
S C
y Rot
(
(
(

=
1 0 0
0
0
) , ( u u
u u
u C S
S C
z Rot
u
u
u
67
Preliminary
Basic Rotation Matrix



Obtain the coordinate of from the coordinate of
uvw xyz
RP P =
(
(
(

=
w z v z u z
w y v y u y
w x v x u x
k k j k i k
k j j j i j
k i j i i i
R
xyz uvw
QP P =
T
R R Q = =
1
3
1
I R R R R QR
T
= = =

uvw
P
xyz
P
<== 3X3 identity matrix
(
(
(

(
(
(

=
(
(
(

z
y
x
w
v
u
p
p
p
p
p
p
z w y w x w
z v y v x v
z u y u x u
k k j k i k
k j j j i j
k i j i i i
68
Composite Rotation Matrix
A sequence of finite rotations
matrix multiplications do not commute
rules:
if rotating coordinate O-U-V-W is rotating about principal
axis of OXYZ frame, then Pre-multiply the previous
(resultant) rotation matrix with an appropriate basic
rotation matrix
if rotating coordinate OUVW is rotating about its own
principal axes, then post-multiply the previous (resultant)
rotation matrix with an appropriate basic rotation matrix
69
Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}

description of {B} as
seen from an observer
in {A}

Rotation of {B} with respect to {A}
Translation of the origin of {B} with respect to origin of {A}
70
Coordinate Transformations
Two Special Cases

1. Translation only
Axes of {B} and {A} are
parallel


2. Rotation only
Origins of {B} and {A} are
coincident


1 =
B
A
R
' o A P B
B
A P A
r r R r + =
0
'
=
o A
r
71
Homogeneous Representation
Coordinate transformation from {B} to {A}



Homogeneous transformation matrix
' o A P B
B
A P A
r r R r + =
(

=
(

1 1 0 1
3 1
' P B o A
B
A P A
r r R r
(

=
(

1 0
1 0
1 3 3 3
3 1
'
P R
r R
T
o A
B
A
B
A
Position
vector
Rotation
matrix
Scaling
72
Homogeneous Transformation
Special cases
1. Translation



2. Rotation
(

1 0
0
3 1
1 3 B
A
B
A
R
T
(

1 0
3 1
'
3 3
o A
B
A
r I
T
73
Homogeneous Transformation
Composite Homogeneous Transformation Matrix
Rules:
Transformation (rotation/translation) w.r.t (X,Y,Z) (OLD
FRAME), using pre-multiplication
Transformation (rotation/translation) w.r.t (U,V,W)
(NEW FRAME), using post-multiplication

74
Homogeneous Representation
A frame in space (Geometric
Interpretation)

x
y
z
) , , (
z y x
p p p P
(
(
(
(

=
1 0 0 0
z z z z
y y y y
x x x x
p a s n
p a s n
p a s n
F
n
o
a
(

=

1 0
1 3 3 3
P R
F
Principal axis n w.r.t. the reference coordinate system
(X)
(y)
(z)
75
Homogeneous Transformation
Translation
y
z
n
o
a
n
o
a
(
(
(
(

+
+
+
=
(
(
(
(

(
(
(
(

=
1 0 0 0

1 0 0 0 1 0 0 0
1 0 0
0 1 0
0 0 1
z z z z z
y y y y y
x x x x x
z z z z
y y y y
x x x x
z
y
x
new
d p a o n
d p a o n
d p a o n
p a o n
p a o n
p a o n
d
d
d
F
old z y x new
F d d d Trans F = ) , , (
76
Homogeneous Transformation
2
1
1
0
2
0
A A A =
Composite Homogeneous Transformation Matrix
0
x
0
z
0
y
1
0
A
2
1
A
1
x
1
z
1
y
2
x
2
z
2
y
?
i
i
A
1
Transformation matrix for
adjacent coordinate frames
Chain product of successive
coordinate transformation matrices
77
Orientation Representation
Rotation matrix representation needs 9 elements
to completely describe the orientation of a
rotating rigid body.

(

=

1 0
1 3 3 3
P R
F
78
Orientation Representation
Euler Angles Representation ( , , )
Many different types
Description of Euler angle representations


|
u

Euler Angle I Euler Angle II Roll-Pitch-Yaw
Sequence about OZ axis about OZ axis about OX axis
of about OU axis about OV axis about OY axis
Rotations about OW axis about OW axis about OZ axis

| |
|
u u u

79
x
y
z
u'
v'
|
u
v "
w"
w'=
=u"

v'"

u'"
w'"=

Euler Angle I, Animated
80
Orientation Representation
Euler Angle I
|
|
|
.
|

\
|

=
|
|
|
.
|

\
|
=
|
|
|
.
|

\
|

=
1 0 0
0 cos sin
0 sin cos
,
cos sin 0
sin cos 0
0 0 1
,
1 0 0
0 cos sin
0 sin cos
' '
'


u u
u u | |
| |

u |
w
u z
R
R R
81
Euler Angle I


|
|
|
|
|
|
|
|
|
.
|

\
|

=
u u u
u |
u |
|
u |
|
u
u |
|
u |
|
u |
cos sin cos sin sin
sin cos
cos cos cos
sin sin
cos sin cos
cos sin
sin sin
cos cos sin
sin cos
cos sin sin
cos cos
' ' ' w u z
R R R R
Resultant Eulerian rotation matrix:
82
Euler Angle II, Animated
x
y
z
u'
v'
|
u
=v"
w"
w'=
u"

v"'

u"'
w"'=
Note the opposite
(clockwise) sense of the
third rotation, |.
83
Orientation Representation
Matrix with Euler Angle II
|
|
|
|
|
|
|
|
|
.
|

\
|

u
u u
u
u |
|
u |
|
u |
u |
|
u |
|
cos
sin sin sin cos
sin sin
cos cos sin
cos cos
cos cos sin
sin cos
sin cos
cos cos sin
cos sin
cos cos cos
sin sin
84
Orientation Representation
Description of Roll Pitch Yaw
X
Y
Z

u
|
Inverting a Homogeneous Transform
85
1
D
2
2
D
1
X
Y
Z
O
1
1
O
2
U
V
W
2
1
P =
1
D
2
+
1
R
2

2
P
2
R
1

1
P =
2
R
1

1
D
2
+
2
R
1

1
R
2

2
P
2
R
1

1
P =
2
R
1

1
D
2
+
2
P
2
P =
2
R
1

1
P +
2
D
1
2
D
1
= -
2
R
1

1
D
2
2
D
1
= -
1
R
2

T

1
D
2
1
T
2
=
1
R
2

1
D
2
0 0 0 1
2
T
1
=
2
R
1

2
D
1
0 0 0 1
2
T
1
=
1
R
2


-
1
R
2
T1
D
2
0 0 0 1
2
T
1
=
1
T
2

-1
86
Example 2
A point is attached to a rotating frame, the
frame rotates 60 degree about the OZ axis of the
reference frame. Find the coordinates of the point
relative to the reference frame after the rotation.



) 2 , 3 , 4 ( =
uvw
a
(
(
(

=
(
(
(

(
(
(

=
=
2
964 . 4
598 . 0
2
3
4
1 0 0
0 5 . 0 866 . 0
0 866 . 0 5 . 0
) 60 , (
uvw xyz
a z Rot a
87
Example 3
A point is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point w.r.t. the rotated OU-
V-W coordinate system if it has been rotated 60
degree about OZ axis.
) 2 , 3 , 4 ( =
xyz
a
uvw
a
(
(
(

=
(
(
(

(
(
(

=
=
2
964 . 1
598 . 4
2
3
4
1 0 0
0 5 . 0 866 . 0
0 866 . 0 5 . 0
) 60 , (
xyz
T
uvw
a z Rot a
88
Example 4
Find the rotation matrix for the following operations:


Post-multiply if rotate about the OUVW axes
Pre-multiply if rotate about the OXYZ axes
...
axis OU about Rotation
axis OW about Rotation
axis OY about Rotation
Answer
o
u
|
(
(
(

+

+
=
(
(
(

(
(
(

(
(
(

=
=
o u | o | o | o u | u |
o u o u u
o | o u | o u | o | u |
o o
o o u u
u u
| |
| |
o u |
S S S C C S C C S S C S
S C C C S
C S S S C C S C S S C C
C S
S C C S
S C
u Rot w Rot I y Rot R
0
0
0 0 1
1 0 0
0
0
C 0 S -
0 1 0
S 0 C
) , ( ) , ( ) , (
3
89
Example 5
Translation along Z-axis with h:



(
(
(
(

=
1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
) , (
h
h z Trans
(
(
(
(

+
=
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
1
h p
p
p
p
p
p
h z
y
x
w
v
u
w
v
u
x
y
z
P
u
v
w
O, O
h
x
y
z
P
u
v
w
O, O
90
Example 6
Rotation about the X-axis by




(
(
(
(

=
1 0 0 0
0 0
0 0
0 0 0 1
) , (
u u
u u
u
C S
S C
x Rot
x
z
y
v
w
P
u
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
0 0
0 0
0 0 0 1
1
w
v
u
p
p
p
C S
S C
z
y
x
u u
u u
91
Example 7
Find the homogeneous transformation matrix
(T) for the following operations:

:
axis OZ about of Rotation
axis OZ along d of n Translatio
axis OX along a of n Translatio
axis OX about Rotation
Answer
u
o
o u , , 4 4 , , x a x d z z
T T I T T T

=
(
(
(
(

(
(
(
(

(
(
(
(

(
(
(
(

=
1 0 0 0
0 0
0 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1
1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0
0 0
o o
o o u u
u u
C S
S C
a
d
C S
S C
92
Example 8
For the figure shown below, find the 4x4 homogeneous transformation
matrices and for i=1, 2, 3, 4, 5
(
(
(
(

=
1 0 0 0
z z z z
y y y y
x x x x
p a s n
p a s n
p a s n
F
i
i
A
1
i
A
0
0
x
0
y
0
z
a
b
c
d
e
1
x
1
y
1
z
2
z
2
x
2
y
3
y
3
x
3
z
4
z
4
y
4
x
5
x
5
y
5
z
(
(
(
(

=
1 0 0 0
0 1 0
1 0 0
0 0 0 1
1
0
d a
c e
A
(
(
(
(

+

=
1 0 0 0
0 1 0 0
0 0 1
0 1 0
2
0
c e
b
A
(
(
(
(

=
1 0 0 0
0 0 0 1
1 0 0
0 1 0
2
1
d a
b
A
Can you find the answer by observation
based on the geometric interpretation of
homogeneous transformation matrix?
93
Denavit-Hartenberg Notation
Z
(i - 1)

X
(i -1)

Y
(i -1)

o
( i - 1)

a
(i - 1 )

Z
i

Y
i

X
i

a
i

d
i

Y
i

IDEA: Each joint is assigned a coordinate frame. Using the
Denavit-Hartenberg notation, you need 4 parameters to describe
how a frame (i) relates to a previous frame ( i -1 ).
THE PARAMETERS/VARIABLES: o, a , d, Y
94
The Parameters
Z
(i - 1)

X
(i -1)

Y
(i -1)

o
( i - 1)

a
(i - 1 )

Z
i

Y
i

X
i

a
i

d
i

Y
i

You can
align the
two axis
just using
the 4
parameter
s
1) a
(i-1)

Technical Definition: a
(i-1)
is the length of the perpendicular between the
joint axes. The joint axes is the axes around which revolution takes place
which are the Z
(i-1)
and

Z
(i)
axes. These two axes can be viewed as lines
in space. The common perpendicular is the shortest line between the two
axis-lines and is perpendicular to both axis-lines.

95
a
(i-1) cont...

Visual Approach - A way to visualize the link parameter a
(i-1)
is to imagine
an expanding cylinder whose axis is the Z
(i-1)
axis - when the cylinder just
touches the joint axis i the radius of the cylinder is equal to a
(i-1).
(Manipulator
Kinematics)

Its Usually on the Diagram Approach - If the diagram already specifies
the various coordinate frames, then the common perpendicular is usually
the X
(i-1)
axis. So a
(i-1)
is just the displacement along the X
(i-1)
to move from
the (i-1) frame to the i frame.

If the link is prismatic, then a
(i-1)

is a variable, not a parameter.


Z
(i - 1)

X
(i -1)

Y
(i -1)

o
( i - 1)

a
(i - 1 )

Z
i

Y
i

X
i

a
i

d
i

Y
i

96
2) o
(i-1)

Technical Definition: Amount of rotation around the common perpendicular
so that the joint axes are parallel.

i.e. How much you have to rotate around the X
(i-1)
axis so that the Z
(i-1)
is
pointing in the same direction as the Z
i
axis. Positive rotation follows the
right hand rule.

3) d
(i-1)

Technical Definition: The displacement
along the Z
i
axis needed to align the a
(i-1)

common perpendicular to the a
i
common
perpendicular.

In other words, displacement along the
Z
i
to align the X
(i-1)
and X
i
axes.

4) Y
i

Amount of rotation around the Z
i
axis needed to align the

X
(i-1)
axis with the
X
i
axis.
Z
(i - 1)

X
(i -1)

Y
(i -1)

o
( i -
1)

a
(i - 1 )

Z
i

Y
i

X
i

a
i

d
i

Y

i

97
The Denavit-Hartenberg Matrix
(
(
(
(

1 0 0 0
cos cos sin cos sin sin
sin sin cos cos cos sin
0 sin cos
i 1) (i 1) (i 1) (i i 1) (i i
i 1) (i 1) (i 1) (i i 1) (i i
1) (i i i
d
d
a
Just like the Homogeneous Matrix, the Denavit-Hartenberg Matrix is a
transformation matrix from one coordinate frame to the next. Using a
series of D-H Matrix multiplications and the D-H Parameter table, the
final result is a transformation matrix from some frame to your initial
frame.

Z
(i -
1)

X
(i -
1)

Y
(i -
1)

o
( i
- 1)

a
(i -
1 )

Z

i

Y
i

X

i

a
i

d
i

Y
i

Put the transformation here
98
99
Algorithm for Link Frame Assignment
Step 2: The Xi axis is fixed perpendicular to both Zi-1 and Zi
axes and points away from Zi-1. Three situations are
possible:
Step 0: Identify and number the links and joints, starting with
base and ending with end-effector.
Step 1: Align axis Zi with axis of joint (i+1) for i = 0, 1, , n-1.
ai-1
Zi-1
Xi-1
di
ai
Xi
Zi
Axis(i-1)
Axis(i)
Axis(i-2)
i
i
100
Case 2 If Z
i-1
and Z
i
axes are parallel or lie in parallel planes then
their common normal is not uniquely defined.
If Joint i is revolute then X
i
axis is chosen along that common
normal, which passes through origin of frame (i-1), making d
i
zero.
If joint i is prismatic, X
i
axis is arbitrarily chosen as any
convenient common normal, with the origin at the distal end of the link i.
Case 1 If Z
i-1
and Z
i
axes intersect, choose the origin at the point of
their intersection. The X
i
axis will be perpendicular to the plane
containing Z
i-1
and Z
i
axes, making ai zero.
Case 3 If Z
i-1
and Z
i
axes coincide, the origin lies on the common
axis. If joint i is revolute, origin is located to coincide with origin of
frame (i-1) and X
i
axis coincides with X
i-1
axis to cause d
i
to be zero. If
joint i is prismatic, X
i
axis is chosen parallel to X
i-1
axis to make a
i
to
be zero. The origin is located at distal end of link i.
Step 3: Yi axis is fixed to complete the right handed ortho-
normal coordinate frame (i).
101
Assigning frame to link 0, the immobile
base frame{0}
Step 4: The X
0
axis, perpendicular to Z
0
axis is chosen to be
parallel to X
1
axis in the home position to make i = 0. The
origin of frame {0} is located based on type of joint 1.
If joint 1 is revolute, the origin of frame {0} can be
chosen at a convenient reference so as to make d
1
zero.
If joint 1 is prismatic, parallel X
0
and X
1
axis will make

1
to be zero and origin of frame {0} is placed arbitrarily.
Z
0
= Z
1
X
0
X
1
Y
0
Y
1
Z
0
= Z
1
X
0
X
1
Y
0
Y
1
a = 0, = 0. d = 0,
= variable.
a = 0, = 0. = 0,
d = variable.
102
Link n, the end - effector, frame assignment
frame {n}
Step 6: The origin of frame {n} (tool frame) is chosen at the
tip of the manipulator, that is a convenient point , tool
point on the last link (end - effector).
Step 7: The Z
n
axis (approach axis) is fixed along the
direction of Z
n-1
axis and pointing away from the link n.
Step 8: For joint n to be prismatic, X
n
will be taken parallel
to X
n-1
axis. For joint n to be revolute, X
n
is perpendicular
to both Z
n-1
and Z
n
axis. X
n
axis is the normal direction.
Step 9: The Y
n
axis (orientation) is chosen to complete the
right handed ortho-normal frame {n}.
103
A 2 - DOF Planar Manipulator Arm
Obtain the position and orientation of the tool point P with
respect to the base for the 2 DOF RP planar Manipulator.
104
Joint Link Parameters for RP Manipulator Arm
Same Origin
a
i
d
i

0
T1 0 90 0 1
1
T2 0 0 d2 0
105
Forward Kinematic Model of a Cylindrical Arm
3 DOF cylindrical (RPP) manipulator arm
Frame assignment for the cylindrical manipulator arm
106
Joint Link Parameters for the RPP
Manipulator Arm
a
i
d
i

0
T1 0 0 0 1
1
T2 0 -90 d2 0
2
T
3
0 0 d3 0
0
T
3
=
0
T
1

1
T
2

2
T
3
=

C1 0 -S1 -d3S1
S1 0 C1 d3C1
0 -1 0 D2
0 0 0 1
C1 -S1 0 0
S1 C1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 0 1 0
0 -1 0 d2
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 d3
0 0 0 1
107
FK model of 3 DOF Articulated Arm
108
Z
0
X
0
-Y
0
Y
1
X
1
Z
1
Y
2
X
2
Z
2
Y
3
X
3
Z
3
Same origin
L
2
L
3
P

3
Frame assignment for articulated arm
a
i
d
i

0
T1 0 90 0 1
1
T2 L2 0 0 2
2
T
3
L3 0 0 3
Joint Link Parameters for Articulated arm
109
Joint Link Parameters for Articulated arm
a
i
d
i

0
T1 0 90 0 1
1
T2 L2 0 0 2
2
T
3
L3 0 0 3
110