ROBOTICS

ENGINEERING
ME 406T

Unit-2
Kinematics and Dynamics
Lecture-1
Outline
Kinematics and Dynamics in Robotic
Manipulator

Mechanical Structure and Notations

Description of Links and Joints

Kinematic Modeling of the manipulator

Denavit-Hartenberg Notation

Kinematic Relationship Between Adjacent

Kinematics and
Dynamics in Robotic
Manipulator
To do what a manipulator does, requires
control of position of each link and joint of the
manipulator to control both the position and
orientation of the tool.

To program the tool motion and joint-link

motions, a mathematical model of the
manipulator is required to refer to all
geometrical and/or time-based properties of
the motion.
Kinematics and
Dynamics in Robotic
Manipulator
Kinematic model describes the spatial position
of joints and links, and position and
orientation of the end-effector

The derivatives of kinematics deal with the

mechanics of motion without considering the
forces that cause it. (Differential Kinematics)

The relationships between the motions and

the forces and/or torques that cause them is
the dynamics problem
Mechanical Structure
and Notations
Completely familiar with the Robot Anatomy

Links
Joints (1-DOF)

Joints with more than 1-DOF are less common.

A Joint m DOF can be modeled as m joints
with 1-DOF each connected with (m-1) links
of zero length

Most manipulators have open serial kinematic

chain
Mechanical Structure
and Notations
Joints may be Revolute (R) or Prismatic (P)
Each joint has a joint axis

By convention, z-axis of the co-ordinate frame

is aligned with the joint axis
Mechanical Structure
and Notations
Consider the following convention for
numbering links and joints:

Thus, an n-DOF manipulator arm consists of

(n+1) links connected by n joints
Description of Links
and Joints
Each link has a frame attached to it
Frame {i} to link {i}

The position and orientation of frame {i},

relative to previous frame {i-1}, can be
described by a homogeneous
transformation matrix

We will now look at link and joint

parameters
Description of Links
From a geometric viewpoint, the link
defines the relative position and
orientation of joint axes at its two ends
Description of Links
The shortest distance between the
common normal of the two axes is known
as the link length and denoted by ai

The angle between the projection of axis

(i-1) and axis (i) on a plane perpendicular
to the common normal AB, is known as
the link twist and is denoted by i

These two parameters ai and i are

known as link parameters and are
constant for a given link
Description of Joints
For two links connected by either a
revolute or prismatic joint, the relative
position of these links is measured by the
displacement at the joint, which is either
joint distance or joint angle, depending
on the type of the joint

We shall identify the joint

parameters viz. Joint distance (di)
and the joint angle (i) in the next
slide
Description of Joints
Description of Joints
Kinematic Modeling of
the manipulator
Joint-Link Parameters

A kinematic model can be addressed by:

Forward or Direct Kinematic Model

Inverse Kinematic Model
Kinematic Modeling of
the manipulator
Denavit-Hartenberg
Notation
The definition of a manipulator with four
joint-link parameters for each link and a
systematic procedure for assigning right-
handed orthonormal coordinate frames,
one to each link in an open kinematic
chain, was proposed by Denavit and
Hartenberg and is known as the Denavit-
Hartenberg notation or the DH notation

Base frame or inertial reference frame is

frame {0}

Tool frame is frame {n}

Denavit-Hartenberg
Notation
Frame {i} is rigidly attached to distal end
of the link {i}

An n-DOF manipulator will have (n+1)

frames

Consider the links in the upcoming slide

for complete description of DH notation
Denavit-Hartenberg
Notation
Denavit-Hartenberg
Notation
Frame {i} is attached to link {i} using
following convention:
Denavit-Hartenberg
Notation
With reference to frame {i-1} and frame {i} the
four DH-parameters- two link parameters and
two joint parameters are defined as:
Denavit-Hartenberg
Notation
The above convention does not always result in
a unique attachment of frames to links. Some
alternates are available.

To minimize alternates and increase consistency

in frame attachment, an algorithm is followed.

The algorithm has four parts and are described

in upcoming slides.

Home or Zero Position

Denavit-Hartenberg
Notation
Labeling scheme
Denavit-Hartenberg
Notation
Denavit-Hartenberg
Notation
Denavit-Hartenberg
Notation
Denavit-Hartenberg
Notation
Once the frames are assigned, the joint-link
parameters are easily identified.

These parameters are used to develop the

Direct Kinematic Model.

Whenever there is a choice in frame

assignment, such an assignment is used
which results in as many zero parameters
as possible.
Kinematic
Relationship between
Adjacent Links
Consider the following links:
Kinematic
Relationship between
Adjacent Links
The transformation from frame {i} to frame {i-
1}:
Kinematic
Relationship between
Adjacent Links
The transformation from frame {i} to frame {i-
1}:
Manipulator
Transformation Matrix
Consider the following frames:
Manipulator
Transformation Matrix
Manipulator Transformation matrix is given by:
Example-1: 2-DOF Planar
Manipulator Arm
Obtain the position and orientation of the tool
point P with respect to the base for the 2-DOF, RP
manipulator as shown in following figure:
Example-1
First step is Frame assignment:
Example-1
Joint-link Parameters:
Example-1
Transformation Matrices:
Example-1
Kinematic Model:
Example-1
Kinematic Model:
For 1 = 120 and d2 = 200 mm:
Example-2: Kinematic Model of a
Cylindrical Arm
Formulate the forward kinematic model of the 3
DOF (RPP) manipulator arm as shown in figure:
Example-2
First step is Frame assignment:
Example-2
Joint-link Parameters:
Example-2
Transformation Matrices:
Example-2
Kinematic Model:
Example-3: Articulated Arm Kinematic
Model
Formulate the forward kinematic model of the
following manipulator:
Example-3
First step is Frame assignment:
Example-3
Joint-link Parameters:
Example-3
Transformation Matrices:
Example-3
Kinematic Model:
Example-3
Home position:
At home position all joint angles are zero
Example-3
Alternate Home position and its joint link
parameters:
Joint angles?
Example-4: RPY wrist Kinematics
For the following RPY wrist obtain the direct
Kinematic model:
Example-4
First step is Frame assignment:
Example-4
Joint-link Parameters:
Example-4
Transformation Matrices:
Example-4
Kinematic Model:
 Example-5: Kinematics of a 3-DOF
Polar Arm
For the given 3-DOF Polar Arm, obtain the orientation
and position of Tool-Point P if the joint-link variable is
q=[ 90 -45 100 mm]T:
Example-5
First step is Frame assignment:
Example-5
Joint-link Parameters:
Example-5
Transformation Matrices:
Example-5
Kinematic Model:
Example-5
Orientation of Point P:
Example-5
Position of Point P:
Example-6: SCARA Robot Kinematics
For the following SCARA manipulator obtain the
direct Kinematic model:
Example-6
First step is Frame assignment:
Example-6
Joint-link Parameters:
Example-6
Transformation Matrices:
Example-6
Kinematic Model:
Example-7: Kinematics of a 5-DOF
Manipulator
For the following manipulator obtain the direct
Kinematic model:
Example-7
First step is Frame assignment:
Example-7
Joint-link Parameters:
Example-7
Transformation Matrices:
Example-7
Transformation matrix for the arm:
Example-7
Transformation matrix for the wrist:
Example-7
Overall Transformation matrix:
Example-7
Home position matrix:
Example-7
For:
Example-8: Stanford Robot Kinematics
For the following manipulator obtain the direct
Kinematic model:
Example-8
First step is
Frame
assignment:
Example-8
Joint-link Parameters:
Example-8
Transformation Matrices:
Example-8
Kinematic Model:
Stay Golden !