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Direct kinematics
Prof. Alessandro De Luca
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study of geometric and time properties of the motion of robotic structures, without reference to the causes producing it robot seen as (open) kinematic chain of rigid bodies interconnected by (revolute or prismatic) joints
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Motivations
functional aspects
operational aspects
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Kinematics
q = (q1,,qn)
q = f -1(r)
r = (r1,,rm)
choice of parameterization q
unambiguous and minimal characterization of the robot configuration n = # degrees of freedom (dof) = # robot joints (rotational or translational) compact description of positional and/or orientation (pose) components of interest to the required task m 6, and usually m n (but this is not strictly needed)
4
choice of parameterization r
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q4
qn
RFE
r = (r1,,rm)
e.g., it describes the pose of frame RFE
m=2
pointing in space positioning in the plane orientation in space positioning and orientation in the plane
5
m=3
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cylindric (RPP) articulated or anthropomorphic (RRR) polar or spherical (RRP) P = 1-dof translational (prismatic) joint R = 1-dof rotational (revolute) joint
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the structure of the direct kinematics function depends from the chosen r
r = fr(q)
geometric/by inspection systematic: assigning frames attached to the robot links and using homogeneous transformation matrices
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py l1
l2 q1
q1 q= q2 px r = py
n=2
q2 px
m=3
link i-1
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a i = distance AB between joint axes (always well defined) i = twist angle between joint axes
[projected on a plane orthogonal to the link axis]
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d i = distance CD (a variable if joint i is prismatic) i = angle (a variable if joint i is revolute) between link axes
[projected on a plane orthogonal to the joint axis]
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di Oi-1
zi-1 xi-1
ai i
zi Oi
i xi
axis around which the link rotates or along which the link slides
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Denavit-Hartenberg parameters
axis of joint i-1 link i-1 D axis of joint i link i axis of joint i+1
di Oi-1
zi-1 xi-1
ai i
zi Oi
i xi
unit vector zi along axis of joint i+1 unit vector xi along the common normal to joint i and i+1 axes (i i+1) ai = distance DOi , positive if oriented as xi (constant = length of link i) di = distance Oi-1D, positive if oriented as zi-1 (variable if joint i is PRISMATIC) i = twist angle between zi-1 and zi around xi (constant) i = angle between xi-1 and xi around zi-i (variable if joint i is REVOLUTE)
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frame0: origin and x0 axis are arbitrary framen: zn axis is not specified (but xn must be orthogonal to and intersect zn-1) when zi-1 and zi are parallel, the common normal is not uniquely defined (Oi can be chosen arbitrarily along zi) when zi-1 and zi are incident, the positive direction of xi can be chosen at will (however, we often take xi = zi-1 zi)
14
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Homogeneous transformation
prismatic joint qi = di
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0 0
Denavit-Hartenberg matrix
ci si i-1A (q ) = i-1A (q ) iA = i i i i i 0 0
-ci si ci ci si 0
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yE zE xE
z0 y0 x0
BT E
RFB
external description using r = (r1,,rm) n-1An(qn) nTE BTE= R p = nsa p 000 1 000 1
BT 0A (q ) 1A (q ) 0 1 1 2 2
r = fr(q)
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q3
q2 q1 q4
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J3 prismatic J4 revolute
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the vertical heights of the link axes are arbitrary (for the time being)
a1
a2
a3 = 0
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Step 3: frames
x3 z4 = a axis
(approach)
y0
21
i
z1 x1 z2 = z3 x2 x4 z0 x0
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i 0 0 0
ai a1 a2 0 0
di d1 0 q3 d4
i q1 q2 0 q4
1 2 3 4
x3 z4
y0
0 0 1 0 0 0 -1 0
a1c1+ a2c12 a1s1+ a2s12 d1+q3 1 0 0 d4 1 a1c1+ a2c12 a1s1+ a2s12 p = p(q1,q2,q3) d1+q3+d4 1
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s4 -c4 0 0
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i 1 2 3 4 5 6
i -/2 /2 0 -/2 /2 0
ai 0 0 0 0 0 0
joint variables are in red, with their current value in the shown configuration
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top view
determine
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