Dept.

Of Mechanical Engineering

MECH572A
Introduction To Robotics

Lecture 5
 Midterm Exam

• Date & Time: 19:00 - 21:00 ,Oct 25, 2004

• Open Book
• Chapters 2 & 3 of the text book
Note: Regular lecture will take place 18:00 –18:45 on Oct 25
 Review

• New concepts
Twist of rigid body

Wrench (static analysis)

• Instantaneous Screw of rigid-body motion

– Define by direction + one point

• Similarity between Velocity and Force/Moment Analysis

– Screw-like force and moment property: Wrench axis
 Review

• Acceleration Analysis
– Fixed reference frame:
Acceleration tensor
– Moving Reference frame
Corilios term in the expression

• Basics in Rigid Body Dynamics

Mass properties - Mass 1st & 2nd Moment; Parallel Axes Theorem;
Principle Axes/Moments (Eigenvectors/values)
Equation of Motion – Newton-Euler Equations
 Robotic Kinematics Overview
Basic Concepts
• Robot Kinematics - Study robot motion without resorting to
force and mass properties. Dealing with position, velocity
and acceleration
• Kinematic Chain - A set of rigid bodies connected by
kinematic pairs
• Kinematic Pairs
• Upper Pair - Line/point contact (gear, cam-follower)
• Lower Pair - Surface contact (revolute, prismatic)
 Robotic Kinematics Overview
Basic Concepts (cont'd)
• Typical Lower Kinematic Pairs
Revolute (R) - 1 Dof (Rotation)
Prismatic (P) - 1 Dof (Translation)
Cylindrical (C) - 2 Dof (Rotation + Translation)
Helical (H) - 1 Dof (Coupled Rotation/Translation)
Planar (E) - 2 Dof (Translation in 2 directions)
Spherical (S) - 3 Dof (Rotation in 3 directions)
 Robotic Kinematics Overview
Basic Concepts (cont'd)
• Two Basic Types of Kinematic Pairs - R & P
All six lower pairs can be produced from Revolute (R) and
Prismatic (P)

Rotating pair – Sliding pair –

Revolute (R) Prismatic (P)
 Robot Kinematics Overview
• Robot Manipulators
Kinematic Chains : Link + Joint
Rigid bodies Kinematic Pairs

• Basic Topologies of Kinematic Chain

Open Chain Tree Necklace

 Robot Kinematics Overview
• Basic Problems in Robotic Kinematics
Direct Kinematics
Z End Effector
Inverse Kinematics px, , py,pz
 px   1  
    ... n
 py   2  i
   
 pz  . 2
1 Y
x  θ  Base
  . Joint Variables
    O Cartesian
  . Variables
   
   
   n X

f 
x  f (θ) x  θ Direct
θ (Joint)  x (Cartesian)
Linear relationship between Inverse
Cartesian rate of EE and joint rates
 Denavit-Hartenberg Notation

• Purpose
– To uniquely define architecture of robot manipulator (Kinematic
chains)
• Assumptions
– Links : 0, 1, …, n - n+1 links
– Pairs: 1, 2, … , n - n pairs
– Frame Fi (Oi - Xi -Yi -Zi) is attached to (i-1)st frame
(NOT ith frame)
 Denavite-Hartenberg Notation
• Definition of Axes
– Zi - Axes of the pair (Rotational/translational)

Zi
Zi
 Denavite-Hartenberg Notation
• Definition of Axes (cont'd)
– Xi - Common perpendicular to Zi+1 and Zi directed from
Zi+1 to Zi (Follow right hand rule if intersect)
– Yi = Zi  Xi

Zi-1
Zi
Xi undefined
(d)
 DH Notation
• Joint Parameters & Joint Variables
– ai - Distance between Zi and Zi+1
– bi - Z-coordinate of Zi and Xi+1 intersection point (absolute
value = distance between Xi and Xi+1 )
 i - Angle between Zi and Zi+1 along +Xi+1 (R.H.R)
 i - Angle between Xi and Xi+1 along +Zi (R.H.R)

– Joint Variables
i - R joint
bi - P joint
 DH Notation
• Summary
Zi-1

i-1 i
bi-1 Zi
Oi-1 ai-1

Xi-1 i
i-1 Oi b i
ai
i
i-1 Oi+1
Xi
Xi+1
i+1

Revolute joints Zi+1

 DH Notation
• Summary – Prismatic joint
Zi

bi i

i-1
Xi+1
i
Xi

bi – Variable
i - Constant
 DH Notation
• Example - PUMA
 DH Notation
• Example - PUMA
 DH Notation
• Example – PUMA
DH Parameters of PUMA Robot

i ai bi i i
1 0 b1 90° 1
2 a2 0 0 2
3 a3 b3 90° 3
4 0 b4 90° 4
5 0 0 90° 5
6 0 b6  6
 DH Notation
• Example - Stanford Arm
 DH Notation
• Example - Stanford Arm
Z7
Z6 Z4
X7 Z5
X6 X4
X3
Z3 Z2
X5 Z1
X2

X1 Y1
 DH Notation
• Example - Stanford Arm (cont'd)
DH Parameters of Stanford Arm

i ai bi i i
1 0 b1 90° 1
2 0 b2 90° 2
3 0 b3 (var) 90° 90°
4 0 0 90° 4
5 0 b5 0° 5
6 0 b6 0 6
 DH Notation
• Summary

ith pair R joint P joint Number of

parameters/variable
Joint Parameters ai, bi, i ai, i, i 3
(Constant)
Joint Variable i bi 1
(Changing)

If there are n joint, there will be 3n joint parameters and n

joint variables
 DH Notation
• Relative Orientation and Position Analysis
Zi Zi '
– Orientation
 i about Zi
Yi '

(a) Yi

Xi

Xi'

(b) i about Xi'

Zi+1 Zi'

Yi+1

Yi'

Rotation Decomposition (a) & (b) Xi+1

Xi'
 DH Notation

• Relative Orientation and Position Analysis

– Orientation (cont'd)
(a) (Xi, Yi, Zi) (Xi', Yi', Zi')

(b) (Xi', Yi', Zi') (Xi+1, Yi+1, Zi+1)

 DH Notation
• Relative Orientation and Position Analysis
– Orientation (cont'd)
 DH Notation
• Relative Orientation and Position Analysis
– Position
To find the position vector ai in Fi frame (position vector connecting
Oi to Oi+1
 DH Notation
• Relative Orientation and Position Analysis
– Position

– Observation: Changing
Constant
 DH Notation
• Relative Orientation and Position Analysis
– Summary

Orientation

Position
 Direct Kinematics
• 6-R Serial Manipulator

Problem description:
Known 1 … n, find Q and p in the base frame
 Direct Kinematics
• 6-R Serial Manipulator
1. Orientation
With DH Parameter defined, Q1, … Q6 can be calculated.

Similarity transformation to individual frame

Abbreviated notation Qi = [Qi]i

 Direct Kinematics
• 6-R Serial Manipulator
2. Position

3. Homogeneous form (position + orientation)

 Direct Kinematics
• Some useful properties of Qi