Beruflich Dokumente
Kultur Dokumente
Robot Kinematics II
Jizhong Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu
Review
Manipulator Specifications
Precision, Repeatability
Homogeneous Matrix
Denavit-Hartenberg (D-H)
Representation
Kinematics Equations
Inverse Kinematics
Hand coordinate:
SCARA: RRP n: normal vector; s: sliding vector;
Articulated: RRR (Selective Compliance a: approach vector, normal to the
Assembly Robot Arm)
tool mounting plate
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Review
Basic Rotation Matrix
px i x i u i x jv i x k w pu
Pxyz p y jy i u jy jv
jy k w pv RPuvw
pz k z i u k z jv k z k w pw
z
Pxyz RPuvw w
P v
Puvw QPxyz
Q R 1 RT y
u
x
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Basic Rotation Matrices
Rotation about x-axis with
1 0 0
Rot ( x, ) 0 C S
0 S C
Rotation about y-axis with
C 0 S
Rot ( y, ) 0 1 0
S 0 C
A r P A RB A r o ' B r P
1 013 1 1
Homogeneous transformation matrix
RB r R33 P31
A A o' Rotation
TB
A matrix
013 1 0 1 Position
vector
Scaling
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Review
Homogeneous Transformation
Special cases
1. Translation
I 33 r
A o'
A
TB
013 1
2. Rotation
A
RB 031
A
TB
013 1
s
A frame in R space
3
n
nx sx ax px
y
n s a P n y sy ay p y
F
0 0 0 1 nz sz az pz
0 0 0 1 x
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Review
Orientation Representation
(Euler Angles)
Description of Yaw, Pitch, Roll
A rotation of about the OX
Z
axis ( Rx , ) -- yaw roll
A rotation of about the OY
axis ( R y , ) -- pitch yaw
A rotation of about the OZ Y
axis ( Rz , ) -- roll
pitch
X
Y
X
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Quiz 2
Geometric Interpretation?
R33 P31 Orientation of OUVW coordinate
T
frame w.r.t. OXYZ frame
Position of the origin of OUVW
0 1 coordinate frame w.r.t. OXYZ frame
Inverse Homogeneous Matrix?
1 R T
R T
P Inverse of the rotation submatrix
T Position of the origin of OXYZ
is equivalent to its transpose
1 R T
R T P R P R T R 0
T T I 44
0 1 0 1 0 1
Inverse Kinematics x
Y ( x, y, z , , , )
Inverse Kinematics
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Robot Links and Joints
Z3
Z0 Z1
Joint 3
Y0 O3 X3
Y1
Link 1 Link 2 d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1
Link 1 Link 2 d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1
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Link Coordinate Frames
Locate the origin of the ith coordinate at the intersection
of the Zi & Zi-1 or at the intersection of common normal
between the Zi & Zi-1 axes and the Zi axis.
the Xi axis lies along the common normal from the Zi-1
axis to the Zi axis X i (Zi 1 Zi ) / Zi 1 Zi , (if Zi-1 is
parallel to Zi, then Xi is specified arbitrarily, subject only
to Xi being perpendicular to Zi); Z3
Z0 Z1
Joint 3
Y0 O3 X3
Y1
d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1
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Link Coordinate Frames
Assign Yi (Zi X i ) / Zi X i to complete the right-
handed coordinate system.
The hand coordinate frame is specified by the geometry On
of the end-effector. Normally, establish Zn along the
direction of Zn-1 axis and pointing away from the robot;
establish Xn such that it is normal to both Zn-1 and Zn
axes. Assign Yn to complete the right-handed coordinate
system. Z3
Z0 Z1
Joint 3
Y0 O3 X3
Y1
d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1
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Link and Joint Parameters
Joint angle i : the angle of rotation from the Xi-1 axis to
the Xi axis about the Zi-1 axis. It is the joint variable if joint i
is rotary.
Link twist angle i : the angle of rotation from the Zi-1 axis
to the Zi axis about the Xi axis.
d2
Joint 1
O0 X0 O1 X1 O2 X2 D-H Link Parameter Table
Joint 2
Y2 Joint i i ai di i
a0 a1 1 0 a0 0 0
Ti i 1 T ( zi 1 , d i ) R( zi 1 , i )T ( xi , ai ) R( xi , i )
C i C i S i S i S i ai C i
Reference S C i C i S i C i ai S i
Coordinate i
0 S i C i di
0 0 0 1
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Kinematic Equations
Forward Kinematics q (q1 , q2 , qn )
Given joint variables
End-effector position & orientation Y ( x, y, z , , , )
n
Homogeneous matrix T0
specifies the location of the ith coordinate frame w.r.t.
the base coordinate system
chain product of successive coordinate transformation
matrices of Ti i 1
T T T T
n 1 2 n Position
0 0 1 n 1 vector
1 px
p nx sx ax px
2 y n
3 pz sy ay p y
T y
nz sz az pz
4
5 0 0 0 1
6
0 90 for x and y
90 180 for x and y
a tan 2( y, x)
180
90
for x and y
90 0 for x and y
C S 0 0 nx sx ax 0
S 0 n
C 0
y sy ay 0
0 0 1 0 nz sz az 0
0 0 0 1 0 0 0 1
(Equation A)
C 0 S 0 1 0 0 0
0 0 C 0
1 0 0 S
S 0 C 0 0 S C 0
0 0 0 1 0 0 0 1
d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2
a0 a1 Joint i i ai di i
1 0 a0 0 0
2 -90 a1 0 1
3 0 0 d2 2
q (q1 , q2 , qn )
y
Find the joint variables
which can bring the robot x
the desired configuration
x
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