ROBOT DESIGN AND

DEVELOPMENT
MR-3001B
PROF. CRISTÓBAL OCHOA LUNA
TECNOLÓGICO DE MONTERREY
AGUASCALIENTES, MEXICO
GRABCAD CUMMUNITY
FEBRUARY-JUNE 2023
ROBOT DESIGN AND
DEVELOPMENT
MR-3001B
SUBJECT 1.1 FUNDAMENTALS OF ROBOTICS
CONTENT

1. Fundamental of robotics
1.1 Definitions and history of robotics.
1.2 Robot classification.
1.3 Basic components of industrial robots.
1.4 Economic aspects of industrial robot applications.
1.5 The future of robotics.
A1.1 Matrix operations
MATRIX OPERATIONS

Notation
𝑖𝑖 = 1 … 𝑛𝑛 row number
𝐴𝐴 = 𝛼𝛼𝑖𝑖𝑖𝑖 𝑗𝑗 = 1 … 𝑚𝑚 column number

Example: for 𝑛𝑛 = 𝑚𝑚 = 2,

𝛼𝛼11 𝛼𝛼12
𝐴𝐴 = 𝛼𝛼 𝛼𝛼22
21
MATRIX OPERATIONS

Notation
𝑖𝑖 = 1 … 𝑛𝑛 row number
𝐴𝐴 = 𝛼𝛼𝑖𝑖𝑖𝑖 𝑗𝑗 = 1 … 𝑚𝑚 column number

Example: for 𝑛𝑛 = 2; 𝑚𝑚 = 3,

𝛼𝛼11 𝛼𝛼12 𝛼𝛼13

𝐴𝐴 = 𝛼𝛼 𝛼𝛼22 𝛼𝛼23
21
MATRIX OPERATIONS
𝛼𝛼11 𝛼𝛼12 𝛽𝛽11 𝛽𝛽12
𝐴𝐴 = 𝛼𝛼 𝛼𝛼22 𝐵𝐵 =
21 𝛽𝛽21 𝛽𝛽22

𝛼𝛼11 + 𝛽𝛽11 𝛼𝛼12 + 𝛽𝛽12

 Addition 𝐴𝐴 + 𝐵𝐵 =
𝛼𝛼21 + 𝛽𝛽21 𝛼𝛼22 + 𝛽𝛽22
𝑐𝑐11 𝑐𝑐12
𝐶𝐶 = 𝑐𝑐
21 𝑐𝑐22

𝛼𝛼11 − 𝛽𝛽11 𝛼𝛼12 − 𝛽𝛽12

 Substraction 𝐴𝐴 − 𝐵𝐵 =
𝛼𝛼21 − 𝛽𝛽21 𝛼𝛼22 − 𝛽𝛽22
MATRIX OPERATIONS

5 4 3 2 3 4
Let A= 7 8 9 and B = 4 −5 6.
3 12 −5 0 7 8

7 7 7 3 1 −1
Find 𝐴𝐴 + 𝐵𝐵 = 11 3 15 Find 𝐴𝐴 − 𝐵𝐵 = 3 13 3
3 19 3 3 5 −13
MATRIX OPERATIONS
 Multiplication by a constant
𝑘𝑘 � 𝐴𝐴 = 𝐴𝐴 � 𝑘𝑘 = 𝑘𝑘 � 𝛼𝛼𝑖𝑖𝑖𝑖

 Multiplication
𝛼𝛼11 𝛼𝛼12 𝛽𝛽11 𝛽𝛽12
𝐴𝐴 � 𝐵𝐵 = 𝛼𝛼 𝛼𝛼22 � 𝛽𝛽21 =
21 𝛽𝛽22

𝛼𝛼11 � 𝛽𝛽11 + 𝛼𝛼12 � 𝛽𝛽21 𝛼𝛼11 � 𝛽𝛽12 + 𝛼𝛼12 � 𝛽𝛽22

𝛼𝛼21 � 𝛽𝛽11 + 𝛼𝛼22 � 𝛽𝛽21 𝛼𝛼21 � 𝛽𝛽12 + 𝛼𝛼22 � 𝛽𝛽22
MATRIX OPERATIONS
 Multiplication
𝛼𝛼11 𝛼𝛼12 𝛽𝛽11 𝛽𝛽12
𝐴𝐴 � 𝐵𝐵 = 𝛼𝛼 𝛼𝛼22 � =
21 𝛽𝛽21 𝛽𝛽22

𝛼𝛼11 � 𝛽𝛽11 + 𝛼𝛼12 � 𝛽𝛽21 𝛼𝛼11 � 𝛽𝛽12 + 𝛼𝛼12 � 𝛽𝛽22

𝛼𝛼21 � 𝛽𝛽11 + 𝛼𝛼22 � 𝛽𝛽21 𝛼𝛼21 � 𝛽𝛽12 + 𝛼𝛼22 � 𝛽𝛽22

𝐴𝐴𝑚𝑚×𝑛𝑛 � 𝐵𝐵𝑛𝑛×𝑝𝑝 = 𝐶𝐶𝑚𝑚×𝑝𝑝 where:

𝑛𝑛

𝑐𝑐𝑖𝑖𝑖𝑖 = � 𝛼𝛼𝑖𝑖𝑖𝑖 𝛽𝛽𝑘𝑘𝑘𝑘 for 𝑖𝑖 = 1, … , 𝑚𝑚 and 𝑗𝑗 = 1, … , 𝑝𝑝

𝑘𝑘=1
MATRIX OPERATIONS

 Multiplication by identity matrix

1 0 ⋯ 0 0
0 1 ⋱ ⋮ ⋮ 1 0 0
𝐴𝐴 � 𝐼𝐼𝑛𝑛 = 𝐼𝐼𝑛𝑛 � 𝐴𝐴 = 𝐴𝐴 𝐼𝐼𝑛𝑛 = ⋮ 0 ⋱ 0 ⋮ 𝐼𝐼3𝑥𝑥𝑥 = 0 1 0
⋮ ⋮ ⋱ 1 0 0 0 1
0 ⋯ ⋯ 0 1
MATRIX OPERATIONS
 Associative property
𝐴𝐴 + 𝐵𝐵 + 𝐶𝐶 = 𝐴𝐴 + (𝐵𝐵 + 𝐶𝐶)
𝐴𝐴 � 𝐵𝐵 � 𝐶𝐶 = 𝐴𝐴 � (𝐵𝐵 � 𝐶𝐶)
 Commutative property
𝐴𝐴 + 𝐵𝐵 = 𝐵𝐵 + 𝐴𝐴
𝐴𝐴 � 𝐵𝐵 ≠ 𝐵𝐵 � 𝐴𝐴
 Distributive property

𝑃𝑃 𝐴𝐴 + 𝐵𝐵 = 𝑃𝑃𝑃𝑃 + 𝑃𝑃𝑃𝑃
MATRIX OPERATIONS
 Inverse
𝐴𝐴−1 ⋅ 𝐴𝐴 = 𝐴𝐴 ⋅ 𝐴𝐴−1 = 𝐼𝐼𝑛𝑛

For 𝑛𝑛 = 2:
1 𝛼𝛼22 −𝛼𝛼12
𝐴𝐴−1 = ⋅ −𝛼𝛼 𝛼𝛼11 where: det 𝐴𝐴 = 𝛼𝛼11 𝛼𝛼22 − 𝛼𝛼21 𝛼𝛼12
det 𝐴𝐴 21

The inverse of 𝐴𝐴 exists if and only if 𝑑𝑑𝑒𝑒𝑒𝑒(𝐴𝐴) ≠ 0

𝛼𝛼11 𝛼𝛼12
𝐴𝐴 = 𝛼𝛼 𝛼𝛼22
21
MATRIX OPERATIONS

Properties of the inverse of a

matrix: 1
𝐴𝐴−1 −1 = 𝐴𝐴 det 𝐴𝐴−1 =
det 𝐴𝐴
𝐴𝐴 ⋅ 𝐵𝐵 −1 = 𝐵𝐵−1 ⋅ 𝐴𝐴−1
𝐴𝐴 + 𝐵𝐵 −1 ≠ 𝐴𝐴−1 + 𝐵𝐵−1 det 𝐴𝐴 ⋅ 𝐵𝐵 = det 𝐴𝐴 ⋅ det 𝐵𝐵
−1
1 −1
𝑘𝑘 ⋅ 𝐴𝐴 = ⋅ 𝐴𝐴
𝑘𝑘
det 𝐴𝐴 + 𝐵𝐵 ≠ det 𝐴𝐴 + det 𝐵𝐵
MATRIX OPERATIONS

Transpose matrix 𝐴𝐴 = 𝛼𝛼𝑖𝑖𝑖𝑖 , 𝐴𝐴𝑇𝑇 = [𝛼𝛼𝑗𝑗𝑗𝑗 ]

Example:
3 −5 7 3 6 4
𝐴𝐴 = 6 8 0 𝐴𝐴𝑇𝑇 = −5 8 2
4 2 1 7 0 1

( A−1 )T = ( AT ) −1 (if the inverse of 𝐴𝐴 exists)

Det ( AT ) = Det ( A)
( A ⋅ B)T = B T ⋅ AT
( A + B)T = AT + B T
MATRIX OPERATIONS
 Symmetric matrix
 3 − 5 7
α ij = α ji  
𝐴𝐴 = 𝛼𝛼𝑖𝑖𝑖𝑖 AT = A Ex: A = − 5 8 0
 
 7 0 1 

 Skew-symmetric matrix
 0 − 5 7
α ij = −α ji 
Ex: A = 5 0 1 
𝐴𝐴 = 𝛼𝛼𝑖𝑖𝑖𝑖 AT = − A  
− 7 − 1 0
MATRIX OPERATIONS
A symmetric matrix is positive definite (𝐴𝐴 > 0) if for all non-zero
vector 𝑉𝑉:
V T AV > 0

𝐴𝐴 is positive semi-definite if for all non-zero vector 𝑉𝑉:

V T AV ≥ 0

𝐴𝐴 is negative definite (𝐴𝐴 < 0) if for all non-zero vector 𝑉𝑉:

V T AV < 0
𝐴𝐴 is negative semi-definite if for all non-zero vector 𝑉𝑉:

V T AV ≤ 0
MATRIX OPERATIONS
 Orthonormal matrix
𝐴𝐴 is an orthonormal matrix if all its columns are mutually orthogonal and have
unit magnitude.

Example:
 3 1
 − 
A= 2 2
 1 3
 2 2 

𝐴𝐴 is orthonormal A ⋅ AT = I ⇒ AT = A−1
MATRIX OPERATIONS
If 𝐴𝐴 is orthonormal its inverse exists
NOTE:
Det ( A) = 1
Det ( A) = 1 𝐴𝐴 is proper orthonormal (direct orthonormal)
Det ( A) = −1 𝐴𝐴 is nonproper orthonormal

Definition: A proper orthonormal matrix is called a rotation or orientation matrix

NOTE: The producto of two ortonormal matrices is an ortonormal matrix

MATRIX OPERATIONS

 Vectors

A vector is a particular case of a matrix with one column

𝑉𝑉 = 𝑣𝑣𝑖𝑖𝑖𝑖 where: 𝑖𝑖 = 1 … 𝑛𝑛, 𝑗𝑗 = 1
Example:
 2
V = 5
1 

V T = [2 5 1]
MATRIX OPERATIONS

 Dot product or scalar product

v x   wx 
V = v y  , W =  wy  , V ⋅ W = v x ⋅ wx + v y ⋅ wy + v z ⋅ wz
 v z   wz 
Is only possible between vectors of the same length.
MATRIX OPERATIONS

 Dot product, geometric definition.

𝐴𝐴

𝐴𝐴 � 𝐵𝐵 = 𝐴𝐴 𝐵𝐵 cos 𝜃𝜃
𝐵𝐵
𝜃𝜃

NOTE: If the dot product of two vectors is zero it means that the vectors are
orthogonal or perpendicular.
MATRIX OPERATIONS
Properties of dot product

• Distributive property

V ⋅ (W + Z ) = (V ⋅ W ) + (V ⋅ Z )

• Orthogonal property
V ⋅W = 0 ⇔ V ⊥ W
• The dot producto is independent of the frame

A
V ⋅ A W = BV ⋅B W
Been {𝐴𝐴} and {𝐵𝐵} two independent frames
MATRIX OPERATIONS

 Cross product

𝑣𝑣𝑥𝑥 𝑤𝑤𝑥𝑥 𝑣𝑣𝑦𝑦 𝑤𝑤𝑧𝑧 − 𝑣𝑣𝑧𝑧 𝑤𝑤𝑦𝑦 Z

𝑉𝑉 = 𝑣𝑣𝑦𝑦 𝑊𝑊 = 𝑤𝑤𝑦𝑦 𝑉𝑉 × 𝑊𝑊 = 𝑍𝑍 = 𝑣𝑣𝑧𝑧 𝑤𝑤𝑥𝑥 − 𝑣𝑣𝑥𝑥 𝑤𝑤𝑧𝑧
𝑣𝑣𝑧𝑧 𝑤𝑤𝑧𝑧 𝑣𝑣𝑥𝑥 𝑤𝑤𝑦𝑦 − 𝑣𝑣𝑦𝑦 𝑤𝑤𝑥𝑥 W
V

𝑍𝑍 = 𝑉𝑉 𝑊𝑊 sin 𝜃𝜃
MATRIX OPERATIONS
Cross product properties
• Not associative
V × (W × Z ) ≠ (V × W )× Z
• Distributive over addition
V × (W + Z ) = (V × W ) + (V × Z )
• Anti-commutative
V × W = −W × V
• Compatible with scalar multiplication
(rV ) × W = V × (rW ) = r (V × W )