Introduction to ROBOTICS

Forward Kinematics
University of Bridgeport

Kinematic
Forward (direct) Kinematics
Given: The values of the joint variables.
Required: The position and the orientation of
the end effector.

Inverse Kinematics
Given : The position and the orientation
of the end effector.
Required : The values of the joint
variables.
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Why DH notation
Find the homogeneous
transformation H relating the tool
frame to the fixed base frame

Why DH notation
A very simple way of modeling robot
links and joints that can be used for
any kind of robot configuration.
This technique has became the
standard way of representing robots
and modeling their motions.

DH Techniques
1. Assign a reference frame to each
joint (x-axis and z-axis). The D-H
representation does not use the y-axis at
all.

2. Each homogeneous transformation

Ai is represented as a product of
four basic transformations

DH Techniques
Matrix Ai representing the four movements is
found by: four movements

1. Rotation of about current Z axis

2. Translation of d along current Z axis

3. Translation of a along current X axis
4. Rotation of about current X axis

Ai Rot z ,i Transz ,di Trans x ,ai Rot x ,i

Rx ,

1 0
Rot ( x, ) 0 C
0 S

C i
S
i
Ai
0

S i
C i
0
0

ci
s
Ai i
0

0
0
1
0

C
Rot ( z , ) S
0

0
S
C

Rz ,

0 0 1
0 0 0
1 di 0

0 1 0

0
1
0
0

-c isi

s i s i

ci c i
s i
0

-s i c i
c i
0

a i c i
a isi
di

0
0
0

1
0

0
1
0
0

0 ai 1
0
0 0 0 C i
1 0 0 S i

0 1 0 0

0
S i
C i
0

S
C
0

0
0

0
0
0

DH Techniques
The link and joint parameters :
Link length ai : the offset distance
between the Zi-1 and Zi axes along the Xi
axis.
Link offset di the distance from the origin
of frame i1 to the Xi axis along the Zi-1
axis.
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DH Techniques

Link twist i :the angle from the Zi-1 axis to the Zi axis
about the Xi axis. The positive sense for is determined
from zi-1 and zi by the right-hand rule.
Joint angle i the angle between the Xi-1 and Xi axes
about the Zi-1 axis.

DH Techniques
The four parameters:
ai: link length, i: Link twist , di : Link
offset and
i : joint angle.
The matrix Ai is a function of only a
single variable qi , it turns out that three
of the above four quantities are
constant for a given link, while the
fourth parameter is the joint variable.
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DH Techniques
With the ith joint, a joint variable is qi associated
where

All joints are represented by the z-axis.

If the joint is revolute, the z-axis is in the direction
of rotation as followed by the right hand rule.
If the joint is prismatic, the z-axis for the joint is
along the direction of the liner movement.
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DH Techniques
3. Combine all transformations, from the
first joint (base) to the next until we get
to the last joint, to get the robots total
transformation
matrix.
0

Tn A1. A2 ....... An

Tn0

4. From
, the position and orientation of
the tool frame are calculated.
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DH Techniques

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DH Techniques

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DH Techniques

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DH Techniques

ci
s
Ai i
0

-c isi

s i s i

ci c i
s i
0

-s i ci
c i
0

a i c i
a isi
di

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Example I
The two links arm

Base frame O0

All Z s are normal to the page

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Example I
The two links arm
Where (1 + 2 ) denoted by 12
and

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Example 2

19

Example 2

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Example 3
The three links cylindrical

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Example 3
The three links cylindrical

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Example 3
The three links cylindrical

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Example 3
The three links cylindrical

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Example 4
Spherical wrist

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Example 4
Spherical wrist

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Example 4
Spherical wrist

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Example 4
Spherical wrist

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Example 5
The three links cylindrical with
Spherical wrist

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Example 5
The three links cylindrical with
Spherical wrist

3
T30 given by example 2,
T6 and
given by example 3.

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Example 5
The three links cylindrical with
Spherical wrist

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Example 5
The three links cylindrical
with Spherical wrist

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Example 5
The three links cylindrical
with Spherical wrist
Forward kinematics:
1. The position of the end-effector: (dx ,dy ,dz
)
2. The
orientation
Pitch, Yaw }
Rotation
about X{Roll,
axis{ROLL}
Rotation about fixed Y axis{PITCH}
Rotation about fixed Z axis{YAW}

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Roll Pitch Yaw

The rotation matrix for the following
operations:
Z
Rotation about X axis{ROLL}
Rotation about fixed Y axis{PITCH}
Rotation about fixed Z axis{YAW}
R Rot ( z , ) Rot ( y, ) Rot ( x, )
0
C S 0 C 0 S 1 0
S C 0 0 1 0 0 C S
0
0
1 - S 0 C 0 S C
CC SS CSS CSC SS
SC CSS CS CS SSC
S

CS
CC

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Example 4
The three links cylindrical with
Spherical wrist
How to calculate , , and
r11
r
21
r31

r12
r22
r32

Compare the matrix R with

T6
Of the matrix
C C
R S C
S

S S C S S
C S S C S
C S

S r31
Sin ( r31 )
1

C S r32
Sin 1 (

r32
)
C

r13
r23
r33

C S C S S
C S S S C

C C

S C r21
sin 1 (

r21
)
C

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Module 1
RRR:RRR
Links

90

10

10

-90

90

10

-90

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HW
From Spong book: page 112
3.2, 3.3, 3.4, 3.6 , 3.7, 3.8, 3.9, 3.11
No Class on next Tuesday

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Module 1

Where 1 , 2 , and3 are Roll, Pitch, and Yaw

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Representing forward
kinematics
Forward kinematics

px
1


p
2
y

pz
3


4

5


6

Transformation Matrix
r11
r
T 21
r31

r12
r22
r32
0

r13
r23
r33
0

d x
d y
d z

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Remember
For n joints: we have n+1 links. Link 0 is
the base
Joints are numbered from 1 to n
Joint i connects link i 1 to link i.
Frame i {Xi Yi Zi} is attached to joint i+1.
So, frame {O0 X0 Y0 Z0}, which is attached
to the robot base (inertial frame) joint 1.

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