Direct Manipulator Kinematics: Review
Direct Manipulator Kinematics: Review
Direct Manipulator Kinematics: Review
Review
Kinematics - the science of motion which treat motion without regard to the forces
that cause them (e.g. position, velocity, acceleration, higher derivatives of the
position).
Kinematics of Manipulators - All the geometrical and time based properties of the
motion
Problem
Solution
1 DOF Joint
Revolute Joint
Prismatic Joint
• Axes Link i 1
Link i 1
Link i
i 1 i
Link i 1
2.5 in
• Frame {0} - The frame attached to the base of the robot or link 0 called frame
{0} This frame does not move and for the problem of arm kinematics can be
considered as the reference frame.
0 0
• Frame {0} coincides with Frame {1}
a0 0
1 0 Arbitrary
Joint 1 - Revolute Joint
d1 0 Convention
0 Convention
Joint 1 - Prismatic Joint 1
d1 0 Arbitrary
• Joint Axes - Identify the joint axes and imagine (or draw) infinite lines along
them. For step 2 through step 5 below, consider two of these neighboring lines
(at axes i-1 and i)
• Frame Origin - Identify the common perpendicular between them, or point of
intersection. At the point of intersection, or at the point where the common
perpendicular meets the i th axis, assign the link frame origin.
• Frame {0} and Frame {1} - Assign {0} to match {1} when the first joint veritable
is zero. For {N} choose an origin location and X̂ N direction freely, but generally
so as to cause as many linkage parameters as possible to be zero
If the link frame have been attached to the links according to our convention, the
following definitions of the DH parameters are valid:
Standard form:
- The distance from Zˆ i 1 to Ẑ i measured along
- The angle betweenZˆ i 1and Ẑ measured about
i
d i - The distance from Xˆ to X̂ measured along Zˆ
i 1 i i 1
i - The angle between Xˆ and X̂ measured about Zˆ
i 1 i i 1
Modified form:
ai 1 - The distance from Zˆ i 1 to Ẑ i measured along Xˆ i 1
i 1 - The angle betweenZˆ and Ẑ measured about Xˆ
i 1 i i 1
d i - The distance from Xˆ to X̂ measured along Ẑ
i 1 i
i - The angle betweenXˆ
i
and X̂ measured about Ẑ
i 1 i i
i 1
P i R1T QRT QPT PiT iP
i 1
Pi 1iT iP
1 0 0 0 1 0 0 ai 1 c i s i 0 0 1 0 0 0
0 c s i 1 0 0 1 0 0 s i c i 0 0 0 1 0 0
i 1
iT
i 1
0 s i 1 c i 1 0 0 0 1 0 0 0 1 0 0 0 1 di
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
c i s i 0 ai 1
s c c i ci 1 si 1 si 1d i
i 1
T i i 1
s i si 1 c i si 1 ci 1 ci 1d
i
0 0 0 1
Standard Form
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
i 1
T i
0 s i c i di
i
0 0 0 1
Modified Form
c i s i 0 ai 1
s c c c s s d
i 1
iT
i i 1 i i 1 i 1 i 1 i
0
NT 01T 12T 23TN N1T
6
4
2
• Assign the Ẑ 2 axis pointing along
the 2ed joint axis. 3
3
• Assign the Ẑ 3 axis pointing along
the 3ed joint axis.
i-1 i i 1
0 1 0 0 Zˆ 0 Zˆ1 about Xˆ 0
1 Zˆ1 Zˆ 2 about Xˆ 1
1 2 -90
2 3 0
2 Zˆ 2 Zˆ 3 about Xˆ 2
3 4 -90
3 Zˆ 3 Zˆ 4 about Xˆ 3
4 5 90
4 Zˆ 4 Zˆ 5 about Xˆ 4
5 6 -90
5 Zˆ 5 Zˆ 6 about Xˆ 5
i-1 i ai 1
0 1 0 a0 Dist. Zˆ 0 Zˆ1 along Xˆ 0
2 3 a2 a2 Dist. Zˆ 2 Zˆ 3 along Xˆ 2
a3 Dist. Zˆ 3 Zˆ 4 along Xˆ 3
3 4 a3
4 5 0
a4 Dist. Zˆ 4 Zˆ 5 along Xˆ 4
5 6 0
a5 Dist. Zˆ 5 Zˆ 6 along Xˆ 5
i-1 i di
0 1 0 d1 Dist. Xˆ 0 Xˆ 1 along Z1
1 2 0
d 2 Dist. Xˆ 1 Xˆ 2 along Z 2
2 3 d3 d 3 Dist. Xˆ 2 Xˆ 3 along Z 3
3 4 d4 d 4 Dist. Xˆ 3 Xˆ 4 along Z 4
4 5 0 d 5 Dist. Xˆ 4 Xˆ 5 along Z 5
5 6 0 d 6 Dist. Xˆ 5 Xˆ 6 along Z 6
i-1 i i
0 1 1 1 Xˆ 0 Xˆ 1 about Zˆ1
1 2 2 Xˆ 1 Xˆ 2 about Zˆ 2
2
2 3 3 3 Xˆ 2 Xˆ 3 about Zˆ 3
3 4 4 4 Xˆ 3 Xˆ 4 about Zˆ 4
4 5 5 Xˆ 4 Xˆ 5 about Zˆ 5
5
5 6 6 6 Xˆ 5 Xˆ 6 about Zˆ 6
c i s i 0 ai 1 c 1 s1 0 0
s c s c 1 0 0
c i ci 1 si 1 si 1d i 1
1T
i 1 i 1 0
T i
i
s i si 1 c i si 1 ci 1 ci 1d 0 0 1 0
0 0 0 1 0 0 0 1
c 2 s 2 0 0
0 0 1 0
2T
1
s 2 c 2 0 0
0 0 0 1
c 3 s 3 0 a 2
s c 3 0 0
2
T 3
0 1 d3
3
0
0 0 0 1
c 4 s 4 0 a 3
0 0 1 d4
4T
3
s 4 c 4 0 0
0 0 0 1
c 6 s 6 0 0 c 5 s 5 0 0
0 1 0 0
0 0 1 0
6T
5 4
T
s 6 c 6 0 0 5
s 5 c 5 0 0
0 0 0 1 0 0 0 1
• The kinematics equations of PUMA 560 specify how to compute the position &
orientation of frame {6} (tool) relative to frame {0} (base) of the robot. These are
the basic equations for all kinematic analysis of this manipulator.
• Notations
cos(1 ) c1 c1
cos(1 2 ) c12 c1c2 s1s2
sin(1 2 ) s12 c1s2 s1c2
• Problem:
Calculate the transformation matrix
of the the tool frame {T} relative to
the station frame {S} - S T
T
• Solution:
Cartesian Transformation
S
T T BST 1WBT WTT