Introduction to ROBOTICS

Kinematics of Robot Manipulator

Jizhong Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu

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 Outline
• Review

• Robot Manipulators
– Robot Configuration
– Robot Specification
• Number of Axes, DOF
• Precision, Repeatability

• Kinematics
– Preliminary
• World frame, joint frame, end-effector frame
• Rotation Matrix, composite rotation matrix
• Homogeneous Matrix
– Direct kinematics
• Denavit-Hartenberg Representation
• Examples
– Inverse kinematics

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 Review
• What is a robot?
– By general agreement a robot is:
• A programmable machine that imitates the actions or
appearance of an intelligent creature–usually a human.
– To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings
• Why use robots?
–Perform 4A tasks in 4D environments
4A: Automation, Augmentation, Assistance, Autonomous
4D: Dangerous, Dirty, Dull, Difficult

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 Manipulators
• Robot 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

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 Manipulators
• Robot Configuration:

Cartesian: PPP Cylindrical: RPP Spherical: RRP

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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 Manipulators
• Motion Control Methods
– Point to point control
• a sequence of discrete points
• spot welding, pick-and-place, loading & unloading
– Continuous path control
• follow a prescribed path, controlled-path motion
• Spray painting, Arc welding, Gluing

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 Manipulators
• Robot Specifications
– Number of Axes
• Major axes, (1-3) => Position the wrist
• Minor axes, (4-6) => Orient the tool
• Redundant, (7-n) => reaching around
obstacles, avoiding undesirable
configuration
– Degree of Freedom (DOF)
– Workspace
– Payload (load capacity)
– Precision v.s. Repeatability Which one is more important?

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 What is Kinematics
• Forward kinematics
z

Given joint variables

q  (q1 , q2 , q3 , q4 , q5 , q6 , qn )
y

x
Y  ( x, y, z , O, A, T )

End-effector position and orientation, -Formula?

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 What is Kinematics
• Inverse kinematics
End effector position z
and orientation
( x, y, z , O, A, T )
y

q  (q1 , q2 , q3 , q4 , q5 , q6 ,  qn ) x

Joint variables -Formula?

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 Example 1

Forward kinematics
y0
x0  l cos y1
x1
y0  l sin 
l

Inverse kinematics 
x0
  cos ( x0 / l )
1

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 Preliminary
• Robot Reference Frames
– World frame
– Joint frame
z
– Tool frame y
z x
y T P

W
x
R

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 Preliminary
• Coordinate Transformation
– Reference coordinate frame
OXYZ z
– Body-attached frame O’uvw P
Point represented in OXYZ:
y
Pxyz  [ p x , p y , p z ]
T
w
 v
Pxyz  p x i x  p y jy  p z k z
Point represented in O’uvw:
x
 O, O’
u
Puvw  pu i u  pv jv  pw k w
Two frames coincide ==> pu  p x pv  p y pw  p z
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 Preliminary
Properties: Dot Product
x y
Let and be arbitrary vectors in R 3
and  be
the angle from x to y , then
x  y  x y cos 
Properties of orthonormal coordinate frame
• Mutually perpendicular • Unit vectors
  
i  j 0 | i | 1
  
i k  0 | j | 1
  
k j 0 | k | 1
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 Preliminary
• Coordinate Transformation
– Rotation only z
P

Pxyz  p x i x  p y jy  p z k z
 y
Puvw  pu i u  pv jv  pw k w w v
u
Pxyz  RPuvw x

How to relate the coordinate in these two frames?

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 Preliminary
• Basic Rotation
– p x , p y, and p z represent the projections of P
onto OX, OY, OZ axes, respectively

– Since P  pu i u  pv jv  pw k w

p x  i x  P  i x  i u pu  i x  jv pv  i x  k w pw
p y  jy  P  jy  i u pu  jy  jv pv  jy  k w pw

p z  k z  P  k z  i u pu  k z  jv pv  k z  k w pw

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 Preliminary
• Basic Rotation Matrix
 px   i x  i u i x  jv i x  k w   pu 
 p    j i j y  jv  
j y  k w   pv  
 y  y u
 p z  k z  i u k z  jv k z  k w   pw 
– Rotation about x-axis with 
z
w
1 0 0  P v

Rot ( x, )  0 C 
 S 

0 S C  y
u
x
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 Preliminary
• Is it True?
– Rotation about x axis with 
 p x  1 0 0   pu 
 p   0 cos   
 sin    pv  
 y  z
 p z  0 sin  cos    pw  w
P v
p x  pu

p y  pv cos   pw sin 
y
p z  pv sin   pw cos  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 

– Rotation about z-axis with 

C  S 0
Pxyz  RPuvw Rot ( z ,  )   S C 0
 0 0 1

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 Preliminary
• Basic Rotation Matrix
 i x  i u i x  jv i x  k w 
R   jy  i u jy  jv jy  k w  Pxyz  RPuvw
k z  i u k z  jv k z  k w 
– Obtain the coordinate of Puvw from the coordinate
of Pxyz Dot products are commutative!

 pu   i u  i x i u  jy i u  k z   px 
 p    j i jv  j y

jv  k z   p y  Puvw  QPxyz
 v  v x
 pw  k w  i x k w  jy k w  k z   p z 
Q  R 1  R T
QR  R T R  R 1 R  I 3 <== 3X3 identity matrix

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 Example 2
• A point auvw  (4,3,2) 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.
a xyz  Rot ( z ,60)auvw
 0.5  0.866 0 4  0.598
 0.866 0.5 0 3   4.964 
 0 0 1 2  2 

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 Example 3
• A point a xyz  (4,3,2) is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated
OU-V-W coordinate system if it has been
rotated 60 degree about OZ axis.

auvw  Rot ( z ,60)T a xyz

 0.5 0.866 0 4  4.598 
  0.866 0.5 0 3   1.964
 0 0 1 2  2 

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 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

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 Example 4
• Find the rotation matrix for the following
operations:
R  Rot ( y,  ) I 3 Rot ( w, ) Rot (u ,  )
Rotation  about OY axis
 C 0 S  C  S 0 1 0 0 
Rotation  about OW axis   0 1 0   S C 0 0 C  S 
Rotation  about OU axis - S 0 C   0 0 1 0 S C 
 CC SS  CSC CSS  SC 
  S CC  CS 

Answer...  SC SSC  CS CC  SSS 

Pre-multiply if rotate about the OXYZ axes

Post-multiply if rotate about the OUVW axes
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 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}

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 Coordinate Transformations
• Two Special Cases
r  RB r  r
A P A B P A o'

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

2. Rotation only
– Origins of {B} and {A}
are coincident
r 0
A o'

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Homogeneous Representation
• Coordinate transformation from {B} to {A}
r  ARB B r P  Ar o '
A P

 A r P   A RB A o'
r   r 
B P

   
 1   013 1  1 
• Homogeneous transformation matrix
 RB
A A o'
r   R33 P31  Rotation
matrix
TB  
A
 
 013 1   0 1  Position
vector
Scaling
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Homogeneous Transformation
• Special cases
1. Translation
 I 33 r 
A o'
A
TB   
013 1 

2. Rotation

 A
RB 031 
A
TB   
 013 1 

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 Example 5
• Translation along Z-axis with h:
1 0 0 0  x  1 0 0 0  pu   pu 
0 1 0 0   y  0 1 0 0  pv   pv 
Trans ( z , h)     
0 0 1 h  z  0 0 1 
h pw    pw  h 
        
0 0 0 1  1  0 0 0 1  1   1 
z z P
P
w y
y
w v
v
x O, O’
u x
h
O, O’
u
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 Example 6
• Rotation about the X-axis by
1 0 0 0  x  1 0 0 0  pu 
 0 C 0  y   0 C
 S  S 0  pv 
Rot ( x,  )    
0 S C 0  z  0 S C 0  pw 
      
0 0 0 1  1  0 0 0 1  1 
z
w
P v

y
u
x
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 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

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 Example 7
• Find the homogeneous transformation matrix
(T) for the following operations:
Rotation  about OX axis
Translation of a along OX axis
Translation of d along OZ axis
Rotation of  about OZ axis
T  Tz , Tz ,d Tx ,aTx , I 44
Answer : C  S 0 0 1 0 0 0  1 0 0 a  1 0 0 0
 S C 0 0 0 1 0 0  0 1 0 0  0 C  S 0

 0 0 1 0  0 0 1 d  0 0 1 0  0 S C 0
    
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1

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 Homogeneous Representation
• A frame in space (Geometric
Interpretation) P( px , p y , pz )
z a (z’)
 R33 P31  s(y’)
F  
 0 1  n (X’)
y
 nx sx ax px 
n sy ay p y 
F  y
 nz sz az pz  x
 
0 0 0 1
Principal axis n w.r.t. the reference coordinate system

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 Homogeneous Transformation
• Translation a
s
1 0 0 d x   nx s x ax px  z n
0 1 0 d y  n y s y ay p y 
a
Fnew    s
0 0 1 d z  nz s z
 az pz 
    n
0 0 0 1 0 0 0 1
 nx sx ax px  d x  y
n s y a y p y  d y 
 y
 nz sz az pz  d z 
 
0 0 0 1 

Fnew  Trans (d x , d y , d z )  Fold

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Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1 z2 y2

y1 x2
z0 0
A1 1
A2
y0
x1

x0
?
i 1 Transformation matrix for
Ai adjacent coordinate frames

0
A2  0A1 1 A2 Chain product of successive
coordinate transformation matrices

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 Example 8
• For the figure shown below, find the 4x4 homogeneous transformation
matrices i 1 Ai and 0 Ai for i=1, 2, 3, 4, 5
 n s a p   1 0 0 0 
c x
n s a
x x x
  0 0 1 e  c 
 py  0 A   
z3 F y y y
1
 0 1 0 a  d 
b y3 x  nz s z a z p z   
z5
3
d    0 0 0 1 
0 0 0 1 
x5 0  1 0 b 
y5 z4 0 0  1 a  d 
A2   
e 1

x4 y4 z2 1 0 0 0 
a
x2  
 0 0 0 1 
z1 x1 y2
z0 0 1 0 b 
y1  1 0 0 e  c 
x0
y0 0
Can you find the answer by observation basedA2  
0 0 1 0 
on the geometric interpretation of  
homogeneous transformation matrix? 0 0 0 1 
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 Orientation Representation
 R33 P31 
F  
 0 1 
• Rotation matrix representation needs 9
elements to completely describe the
orientation of a rotating rigid body.
• Any easy way?

Euler Angles Representation

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 Orientation Representation
• Euler Angles Representation (  , ,  )
– Many different types
– Description of Euler angle representations

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

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 Euler Angle I, Animated

w'= z

w'"= w"
 v'"
v"

v'
y

u'"

u' =u"
x

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 Orientation Representation
• Euler Angle I
 cos   sin  0 1 0 0 
   
Rz   sin  cos  0 , Ru '   0 cos   sin  ,
 0 0 1   0 sin  cos  
 
 cos   sin  0
 
Rw''   sin  cos  0
 0 0 1 


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 Euler Angle I
Resultant eulerian rotation matrix:

R  Rz Ru ' Rw''

 cos  cos   cos  sin  
 sin  sin  
  sin  sin  cos  sin  cos  cos 
 
 
 sin  cos   sin  sin   cos  sin  
  cos  sin  cos  cos  cos  cos 
 
 
 sin  sin  cos  sin  cos 
 
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 Euler Angle II, Animated

w'= z

w"'= w" 

 v"'
 v' =v"
y
u"'
u"
Note the opposite u'
(clockwise) sense of the x
third rotation, .
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 Orientation Representation
• Matrix with Euler Angle II
  sin  sin   sin  cos  
 cos  sin  
  cos  cos  cos  sin  cos  cos 
 
 
 cos  sin  cos  cos  sin  sin  
  sin  cos  cos  sin  cos  cos 
 
 cos 
  cos  sin  sin  sin 
 

Quiz: How to get this matrix ?

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 Orientation Representation
• Description of Roll Pitch Yaw
Z


 Y

X

Quiz: How to get rotation matrix ?

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 Thank you!
Homework 1 is posted on the web.
Due: Sept. 16, 2008, before class
Next class: kinematics II
z
y
z
y x
z z
x y
y x

x
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