Robotics Engineering Department Binghamton University

Areas
Interest in Robotics
Industrial Engineering
Department
Binghamton University
Industrial Automation
Outline
• Introduction
– Historical Example
– Mechanical Engineering and Robotics
• Review of Basic Kinematics and
Dynamics
• Transformation Matrices/Denavit-
Hartenberg
• Dynamics and Controls
• Example: Surgical Robot
Robot Configurations
Cartesian Cylindrical
Spherical
SCARA
Phillip John McKerrow, Introduction to Robotics (1991)
Review of Basic Kinematics and Dynamics
• Case Study: Dynamic Analysis
• Software for Dynamic Analysis:
ADAMS
• Rigid Body Kinematics
• Rigid Body Dynamics
Kinematics of Rigid Bodies
General Plane Motion:

Translation plus Rotation
Kinematics of Rigid Bodies (cont.)
Translation
If a body moves so that all the particles have at
time t the same velocity relative to some
reference, the body is said to be in translation
relative to this reference.
Rectilinear Translation Curvilinear Translation

Rotation
Motion
If a rigid body moves so that
along some straight line all the
particles of the body, or a
hypothetical extension of the
body, have zero velocity relative
to some reference, the body is
said to be in rotation relative to
this reference.
The line of stationary particles is
called the axis of rotation.
General Plane Motion can be analyzed as:

A translation plus a rotation.
Chasle’s Theorem:
1. Select any point A in the body. Assume that all
particles of the body have at the same time t a
velocity equal to vA, the actual velocity of the
point A.
2. Superpose a pure rotational velocity w about an
axis going through point A.
General Plane Motion: drA  drB
General Plane
Motion;
(1) Translation
measured
from original
Point A
General Plane
Motion:
(2) Rotation about
axis through Point
A
General Plane Motion = Translation + Rotation

Derivative of a Vector Z
z A A
Fixed in a Moving y
Reference O

x
P
Two Reference Frames:
XYZ
R
x'y'z'
X
O
Let R be the vector that Y
establishes the relative
Let A be the fixed
position between XYZ
vector that establishes
and x'y'z'.
the position between A
and P.
Z z A
The time rate of y
change of A as seen O

from x'y'z' is zero: R x
 O
 dA 
X Y
   0
 dt 
  x' y 'z '
As seen from XYZ, the time rate Z z A

of change of A will not y
O
necessarily be zero. 
Determine the time derivative by R x
applying Chasles’ Theorem.
O
1. Translation. Translational X Y
motion of R will not alter the
magnitude or direction of A.
(The line of action will change
but the direction will not.)
Kinematics of Rigid Bodies (cont.) Z'

w
2. Rotation. Rotation about an
Z z
axis passing through O':w A y Y'
O

Establish a second stationary R x
reference frame, X'Y'Z',
such that the Z' axis X
O
Y
coincides with the axis of X'
rotation.
   
w  Z' r

Z
Locate a set of cylindrical
A Y'
coordinates at the end of A.
    
A  Ar  r  A   AZ ' Z ' R
O
Because A is a fixed vector, X Y
the magnitudes Ar, A, and AZ' X'
are constant. Therefore:
Also, Z' is unchanging,
A r  A  A Z '  0 therefore: 
Z '  0
   
w  Z' r

Z
A Y'
The time derivative as seen from 
the X'Y'Z' reference frame is: R
O
   X
 dA   d r   d  Y
   Ar    A   X'
 dt   dt  X 'Y 'Z '  dt  X 'Y 'Z '
  X 'Y 'Z '
 
Recall:
d r 
  and
d 
  r
Note:
  w
dt dt

 dA   
    Arw  A w r
 dt  X 'Y 'Z '
   
w  Z' r

Z
The result for the time
A Y'
derivative as seen from the 
X'Y'Z' reference frame is: R

 dA    O
    Arw  A w r X Y
 dt  X 'Y 'Z ' X'
Both the X'Y'Z' reference frame and the XYZ reference

frame are stationary reference frames, therefore
 
d d  dA   dA   
           Arw  A w r
 dt  X 'Y 'Z '  dt  XYZ  dt  XYZ  dt  X 'Y 'Z '
   
w  Z' r

 Z
 dA   
   Arw  A w r 
A Y'
 dt 
  XYZ R
 
For: w  A w  w Z ' O
    X Y
A  Ar  r  A   AZ ' Z ' X'
r  Z r  Z r 
  
wA 0 0 w  0 w 0
0 0  Arw  A w r
Ar A AZ ' Ar A AZ ' Ar A
0 0 0
 rw A  0  w Ar 
   
 w  Z' r
 dA  
  w A Z
 dt  XYZ
A Y'
For acceleration, differentiate: 
R
  d A
2
a   2 
 dt  XYZ X
O
Y
By the product rule: X'

 d A
2
 dw    dA 
 2      A  w   
 dt  XYZ  dt  XYZ  dt  XYZ

 dw 
   w  
 dt  XYZ
 dA 

w     w  w  A 

 dt  XYZ
   
w  Z' r

Z
A Y'
  d A
  
2  
 a   2     A  w  w  A R
 dt  XYZ
O
X Y
X'
Summary of Equations: Kinematics of Rigid Bodies
vB  v A  w  rB A
  
 
aB  a A    rB A  w  w  rB A 
Degrees of Freedom
Degrees of Freedom (DOF) = df. The
number of independent parameters
(measurements, coordinates) which are
needed to uniquely define a system’s
position in space at any point of time.
A rigid body in plane

motion has three DOF.
f Note: The three

parameters are not
r unique.
x, y,  – is one set of
three coordinates
r, f,  – is also a set
of three coordinates
y
A rigid body in 3-D space has six DO
For example,
fx, y, z – three linear coordinates and
f, , y – three angular coordinates
r
X Industrial Automation
Links, Joints, and Kinematic Chains
Link = df. A rigid body which

possesses at least two nodes which
are points for attachment to other
links.
Joint = df. A connection between two or

more links (at their nodes) which
allows some motion, or potential
motion, between the connected links.
Also called “kinematic pairs.”
Type of contact between links

Lower pair: surface contact
Higher pair: line or point contact
Six Lower Pairs
Revolute R
Prismatic P
Helical H
Cylindric C
Spherical S
Flat Planar F
Kinematics of Rigid Bodies (cont.) CS 480A-34
“Constrained Pin” “Screw”
“Slide” “Sliding Pin”

“Ball and Socket”

Planar (F) Joint – 3 DOF
Open/Closed Kinematic Chain (Mechanism)

Closed Kinematic Chain = df. A kinematic chain in
which there are no open attachment points or nodes.
Open Kinematic Chain = df. A kinematic chain in

which there is at least one open attachment point or
node.
Dynamics of Rigid Bodies
Dynamic Equivalence
Lumped Parameter Dynamic Model
Dynamic System Model
For a model to be dynamically equivalent to the
original body, three conditions must be satisfied:
1. The mass (m) used in the model must equal the mass
of the original body.
2. The Center of Gravity (CG) in the model must be in
the same location as on the original body.
3. The mass moment of inertia (I) used in the model
must equal the mass moment of inertia of the
original body.
m, CG, I
Dynamics of Rigid Bodies (cont.)
First Moment of Mass and

Center of Gravity (CG)
The first moment of mass, or mass moment (M), about
an axis is the product of the mass and the distance from
the axis of interest.
M   rdm
m
where: r is the radius from the axis of interest to the increment of

mass
Second Moment of Mass,

Mass Moment of Inertia (I)
The second moment of mass, or mass moment of
inertia (I), about an axis is the product of the mass and
the distance squared from the axis of interest.
I m   r dm
2
where: r is the radius from the axis of interest to the increment of

mass
Lumped Parameter Dynamic Models

The dynamic model of a mechanical system involves
“lumping” the dynamic properties into three basic
elements:
Mass (m or I) m
Spring
Damper
Manipulator Dynamics and Control
• Forward Kinematics – Given the angles and/or
extensions of the arm, determine the position of the end
of the manipulator
• Inverse Kinematics – Given the position of the end of
the manipulator, determine the angles and/or extensions
of the arm needed to get there
• Dynamics – Determine the forces and torques required
for or resulting from the given kinematic motions.
• Control – Given the block diagram model of the
dynamic system, determine the feedback loops and
gains needed to accomplish the desired performance
(overshoot, settling time, etc.)
Forward Kinematics:
Denavit-Hartenberg (D-H)
Transformation Matrix
• Forward Kinematics – Given the angles

and/or extensions of the arm, determine the
position of the end of the manipulator
Position Kinematics
While the kinematic analysis of a robot manipulator can be
carried out using any arbitrary reference frame, a systematic
approach using a convention known as the Denavit-
Hartenberg (D-H) convention is commonly used.
Any homogeneous transformation is represented as the
product of four 'basic" transformations:
Ai  Rot z ,i Transz ,di Transx ,ai Rot x ,i
End here
Mark W. Spong and M. Vidyasagar, Robot

Dynamics and Control (1989)
Start here
Ai  Rot z ,i Transz ,di Transx ,ai Rot x ,i
ci  si 0 0 1 0 0 0  1 0 0 ai  1 0 0 0
s ci 0 0  0 1 0 0  0 1 0 0  0 ci  si 0
Ai   i    
0 0 1 0  0 0 1 d i  0 0 1 0  0 si ci 0
0 1 0 0 1  0 0 1  0 0 1
 0 0 0 0 0
ci  si ci si si ai ci 

s ci ci  ci si ai si 
Ai   i

0 si ci di 
0 
 0 0 1 
Mark W. Spong and M. Vidyasagar, Robot Dynamics and Control (1989)
Example
c1  s1 0 a1c1 
s c1 0 a1s1 
A1   1 
0 1 1 1 
0 
 0 0 1 
c 2  s 2 0 a2c 2 
s c 2 0 a2 s 2 
A2    2 
0 1 1 1  T  A1
0
1
0 
 0 0 1  T02  A1 A2
c1  s1 0 a1c1  c 2  s 2 0 a2c 2 
s c1 0 a1s1   s 2 c 2 0 a2 s 2 
T02  A1 A2   1  
0 0 1 0  0 0 1 0 
0 1   0 1 
 0 0 0 0
c1 c 2  s1 s 2  c1 s 2  s1 c 2 0 a2 c 2 c1  s1 s 2   a1c1 

s c  c1 s 2  s1 s 2  c1 c 2 0 a2 c 2 s1  c1 s 2   a1s1 
  1  2 
 0 0 1 0 
 
 0 0 0 1 
cos     cos cos   sin  sin  c1  2  s1  2 0 a2c1  2  a1c1 
sin      sin  cos   cos sin  s c1  2 0 a2 s1 2  a1s1 
 
 1 2 
 0 1 1 1 
 0 
 0 0 1 
Given the angles, 1 and 2, along with
the link lengths, a1 and a2, the position of
the end point of the two-link planar
manipulator with respect to the base of
the manipulator can be found using the
D-H transformation matrix:
c1  2  s1  2 0 a1c1  a2c1  2 

s c1  2 0 a1s1  a2 s1  2 
T0  
2 1  2

 0 1 1 1 
 0 
 0 0 1 
Similarly for any robot configuration:
Stanford
manipulator
configuration:
 r11 r12 r13 d x 

r r r23 d y 
T06   21 22 
 r31 r32 r33 d z 
0 0 0 1 

where:
d6 r11  c1c2 c4c5c6  s4 s6   s2 s5c6   s1  s4c5c6  c4 s6 
r21  s1c2 c4 c5c6  s4 s6   s2 s5c6   c1  s4c5c6  c4 s6 
r31   s2 c4c5c6  s4 s6   c2 s5c6
r12  c1 c2 c4 c5 s6  s4 s6   s2 s5 s6   s1  s4c5 s6  c4c6 
d3
r22  s1 c2 c4 c5 s6  s4 s6   s2 s5 s6   c1  s4c5 s6  c4c6 
r32  s2 c4 c5 s6  s4 c6   c2 s5 s6
r13  c1 c2c4 s5  s2 c5   s1s4 s5
r23  s1 c2c4 s5  s2c5   c1s4 s5
d2 r33   s2 c4 s5  c2c5
d x  c1s2 d 3  s1d 2  d 6 c1c2c4 s5  c1c5 s2  s1s4 s5 
d y  s1s2 d 3  c1d 2  d 6 c1s4 s5  c2c4 s1s5  c5 s1s2 
d z  c2 d 3  d 6 c2c5  c4 s2 s5 
Velocity Kinematics
Jacobian
The Jacobian is a matrix valued function of
derivatives.
 f1 f1

f1 
 x x2 xn 
 f 1 f 2 f 2 
 Jv   2  
J       x1 x2 xn 
Jw       
 f n f n f n 
  
 x1 x2 xn 
Linear Velocities
 lc1 sin q1 0
J vc1    lc1 cos q1 0
 0 0
 l1 sin q1  lc 2 sin q1  q2   lc 2 sin q1  q2 

J vc 2    l1 cos q1  lc1 cosq1  q2  lc 2 cosq1  q2  
 0 0 
Inverse Kinematics
• Inverse Kinematics – Given the position of the

end of the manipulator, determine the angles
and/or extensions of the arm needed to get there
In general the problem can be stated:
Given the 4x4 D-H homogeneous transformation
R d 
H  
 0 1 
Find one (or all) of the solutions of the equation
T0n  q1 , q2 ,..., qn   H
where :
T0n  q1 , q2 ,..., qn   A1  A2 ...  An
In other words, solve the system of equations:

Tij  q1 , q2 ,..., qn   hij
where :
i  1, 2, 3 j  1, 2, 3,..., n
Mark W. Spong and M. Vidyasagar, Robot
Dynamics and Control (1989)
r11  c1c2 c4c5c6  s4 s6   s2 s5c6   s1  s4c5c6  c4 s6 
For example, the r21  s1c2 c4 c5c6  s4 s6   s2 s5c6   c1  s4c5c6  c4 s6 
system of
r31   s2 c4c5c6  s4 s6   c2 s5c6
nonlinear
trigonometric r12  c1 c2 c4 c5 s6  s4 s6   s2 s5 s6   s1  s4c5 s6  c4c6 
equations for the r22  s1 c2 c4 c5 s6  s4 s6   s2 s5 s6   c1  s4c5 s6  c4c6 
Stanford r32  s2 c4 c5 s6  s4 c6   c2 s5 s6
manipulator is: r13  c1 c2c4 s5  s2 c5   s1s4 s5
r23  s1 c2c4 s5  s2c5   c1s4 s5
r33   s2 c4 s5  c2c5
d x  c1s2 d 3  s1d 2  d 6 c1c2c4 s5  c1c5 s2  s1s4 s5 
d y  s1s2 d 3  c1d 2  d 6 c1s4 s5  c2c4 s1s5  c5 s1s2 
d z  c2 d 3  d 6 c2c5  c4 s2 s5 
Solve for: 1, 2, 4, 5, 6, d3
There is no simple, universal method to solve inverse kinematic
problems.
A common technique used for a 6 DOF robot with a 3 DOF end-
effector (roll, pitch, yaw) is "kinematic decoupling:" find a
location for the robot wrist and then determine the orientation of
the end-effector.
Also, in general, there is no

unique solution to the inverse
kinematic problem.
Robot Dynamics
• Dynamics – Determine the forces and torques

required for or resulting from the given kinematic
motions.
Robot Controls
• Control – Given the block diagram model of the
dynamic system, determine the feedback loops
and gains needed to accomplish the desired
performance (overshoot, settling time, etc.)
Feedback Control System
DC Motor
Surgical Instrument
Good software cannot fix the
problems caused by poor
mechanical design.
– Phillip John McKerrow, Introduction to Robotics
(1991)

Robotics Engineering Department Binghamton University

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General Plane Motion:

Rectilinear Translation Curvilinear Translation

General Plane Motion can be analyzed as:

General Plane Motion: drA  drB

General Plane Motion = Translation + Rotation

As seen from XYZ, the time rate Z z A

Both the X'Y'Z' reference frame and the XYZ reference

Summary of Equations: Kinematics of Rigid Bodies

A rigid body in plane

f Note: The three

Links, Joints, and Kinematic Chains

Link = df. A rigid body which

Joint = df. A connection between two or

Type of contact between links

“Constrained Pin” “Screw”

“Slide” “Sliding Pin”

“Ball and Socket”

Open/Closed Kinematic Chain (Mechanism)

Open Kinematic Chain = df. A kinematic chain in

First Moment of Mass and

where: r is the radius from the axis of interest to the increment of

Second Moment of Mass,

where: r is the radius from the axis of interest to the increment of

Lumped Parameter Dynamic Models

• Forward Kinematics – Given the angles

Ai  Rot z ,i Transz ,di Transx ,ai Rot x ,i

Mark W. Spong and M. Vidyasagar, Robot

ci  si ci si si ai ci 

c1 c 2  s1 s 2  c1 s 2  s1 c 2 0 a2 c 2 c1  s1 s 2   a1c1 

c1  2  s1  2 0 a1c1  a2c1  2 

 r11 r12 r13 d x 

 l1 sin q1  lc 2 sin q1  q2   lc 2 sin q1  q2 

• Inverse Kinematics – Given the position of the

In other words, solve the system of equations:

Solve for: 1, 2, 4, 5, 6, d3

Also, in general, there is no

• Dynamics – Determine the forces and torques

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