Robot Manipulator Kinematics

• Kinematics is the analysis

of motion without regard to
the forces/torques that
Lecture 05 cause the motion.

Robot Manipulator • Within kinematics, one

Kinematics studies position, velocity,

acceleration (and even
higher order derivatives of
position) w.r.t. time
Acknowledgement :
Prof. Oussama Khatib, Robotics Laboratory, Stanford University, USA
Prof. Harry Asada, AI Laboratory, MIT, USA

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Forward and Inverse Kinematics Kinematics of Planner Serial Linkages

• Forward Kinematics (FK) • Planar kinematics is much more tractable mathematically,
– Static geometrical problem of computing position and compared to general three-dimensional kinematics
orientation of the end-effector x = ( x, y, z, φ x , φ y , φ z )T relative to
the base frame given the arm configuration θ = (θ1 ,θ 2 ,Lθ n )T
• Inverse Kinematics (IK)
– IK determines the arm configuration θ, for a given position
and orientation of the end-effector x. {3}

– IK is the practical problem of manipulator control.

– IK is often ill-posed, need numerical methods to solve IK. {2}
– For all x outside the workspace, IK produces no solutions θ {1}
indicating that the manipulator cannot attain those position.
Link and joint {0}
parameters
Joint space FK
Cartesian space Consider the three degree-of-freedom planar robot arm, which consists of one fixed link
Description θ Description X (link 0) and three movable links that move on the plane. All the links are connected by
(arm configuration) IK {tool} w.r.t {base} revolute joints whose joint axes are all perpendicular to the plane of the links. 4
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Kinematics of Planner Serial Linkages Kinematics of Planner Serial Linkages
• To describe the robot arm, the following geometric • Ex: Solve forward kinematics of the following planner RPR
parameters are required manipulator
• Link lengths : l1, l2, l3
• Identify joints and links
• Actuator 1 couples link0 to link1 and create θ1
• Actuator 2 couples link1 to link2 and create θ2
• Actuator 3 couples link2 to link3 and create θ3
• Set up the co-ordinate frame {0} fixed to the base
• Forward Kinematics: describes end-effector position (xe,ye)
and orientation in terms of joint displacements and link
lengths
xe = l1 cos θ1 + l2 cos(θ1 + θ 2 ) + l3 cos(θ1 + θ 2 + θ 3 )
ye = l1 sin θ1 + l2 sin(θ1 + θ 2 ) + l3 sin(θ1 + θ 2 + θ 3 ) • Joint displacements: θ1(rotary), d(prismatic), θ3(rotary)
φe = θ1 + θ 2 + θ 3 • Joint displacement vector: q =[θ1 d θ3]T
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Inverse Kinematics of Planner Inverse Kinematics Problem

Manipulators • Inverse kinematics is more complex in the sense that
• Consider the problem of moving the end-effecter of a multiple solutions may exist for the same end-effecter
manipulator arm to a specified position and orientation. location

• We need to find the joint displacements that lead the end-
effecter to the specified position and orientation.
• To achieve desired end-effector position and orientation,
inverse kinematics is solved, and each joint is moved to the
determined values through joint controllers. IK is central to
manipulator control problem.
• Since the kinematic equation is comprised of nonlinear
simultaneous equations with many trigonometric
functions, it is not always possible to derive a closed-
form solution.
• solutions may not always exist for a particular range of
end-effecter locations and arm structures

• When the kinematic equation cannot be solved

analytically, numerical methods are used in order to
derive the desired joint co-ordinates.
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 Inverse Kinematics
x w = x e − l 3 cos φ e
y w = y e − l 3 sin φ e
l12 + l 22 − 2 l1l 2 cos β = r 2
where r 2 = x w2 + y w2
l +l −r
2 2
⇒ β = cos −1 
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Multiple Solutions
• Ex: Solve IK of the planner • Interestingly, elbow up configuration will also locate the end-
manipulator (given: xe ye φe) effector at the same position and orientation. Therefore,
• Use two step method (wrist and end) there is another IK solution.
approach
θ1′ = θ1 + 2γ
2

 θ 2′ = −θ 2

 2 l1l 2 
⇒ θ2 = π − β θ 3′ = θ 3 + 2(θ 2 − γ )
Simillarly , r 2 + l12 − 2 rl 1 cos γ = l 22
 r 2 + l12 − l 22 
⇒ γ = cos −1  
 2 rl 1 
 y  • When there are
α = tan −1  w 
 xw  multiple solutions
⇒ θ1 = α − γ (arm configurations)
Then, for IK, the manipulator is called a redundant arm
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θ 3 = φe − θ1 − θ 2

Multiple Solutions IK Parallel Linkages

• The existence of multiple solutions provides the robot with xe = l1 cos θ1 + l2 cos θ 2
Step 1 (calculate θ1 and θ2)
an extra degree of flexibility. Consider a robot working in a ye = l1 sin θ1 + l2 sin θ 2
crowded environment. If multiple configurations exist for the x A = l1 cos θ1 + l5 cos θ 2 = d + l3 cos θ 3 + l4 cos θ 4
same end-effecter position/orientation, the robot can
choose the most appropriate, collision-free configuration. y A = l1 sin θ1 + l5 sin θ 2 = l3 sin θ 3 + l4 sin θ 4
Step 2 (calculate xA , yA ) Step 3 (calculate θ3 and θ4)
• Each IK solution must satisfy joint range limits of rotary
joints and stroke limits of prismatic joints.
PUMA 560 arm Six rotary Joints Joint Limits

d
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Inverse Kinematics of Parallel Linkages Serial Link Manipulators
Homework
Solve IK of the doggy robot
1. Given (xB,yB φB) → (xA,yA) and (xC,yC)
2. Knowing (xA,yA) → find θ1,θ2
3. Knowing (xC,yC) → θ3,θ4

x
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Class Test: Derive the DH table of the following RRR

planner manipulator

i α i-1 a i-1 di θi
1 0 0 0 θ1
2 0 L1 0 θ2
3 0 L2 0 θ3

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Stanford Schinman
Arm

Homogeneous transformation
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Homogeneous transformation
between consecuitive joints

Homogeneous transformation between any two

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joints 30

Homogeneous transformation
from base to other joints

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 Programmable Universal Manipulator
Arm (PUMA) 560

• Assignment 2:
Write m-code to calculate forward kinematics
of PUMA 560. Calculate end-effector position
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and orientation for a test arm configuration.
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Manipulator Frame Assignment and

Identification of DH parameters DH Frame Assignment.flv

Frame Assignment for Denso VP6

Robot Manipulator Denso VP6.flv

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