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Introduction to Robotics 3 C1.

Overviews and Fundamentals

Introduction to Robotics
1.1. Introduction
Overviews of robots

Chapter 1. Overviews and Fundamentals

Dr. Tran Minh Thien

HCMUTE, Faculty of Mechanical Engineering

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien Department of Mechatronics

Introduction to Robotics 4 C1. Overviews and Fundamentals Introduction to Robotics 2 C1. Overviews and Fundamentals

1.1. Introduction 1.1. Introduction

Overviews of robots Overviews of robots

1.1. Introduction 1.1. Introduction

Overviews of robots Overviews of robots

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 8 C1. Overviews and Fundamentals Introduction to Robotics 6 C1. Overviews and Fundamentals

1.1. Introduction 1.1. Introduction

What is a robot? Overviews of robots
Robots are complex, versatile devices that contain a
mechanical structure, a sensory system, and an automatic control
system. Robots may be used in manufacturing environments, in
underwater and space exploration, in researching human and animal
behavior, for transportation and delivery, for military purposes, or
even for fun.

1.1. Introduction 1.1. Introduction

Historical Development Historical Development
• The first position controlling apparatus was invented around 1938
for spray painting.

Asimo Humanoid Robot Evolution, Honda

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Introduction to Robotics 12 C1. Overviews and Fundamentals Introduction to Robotics 10 C1. Overviews and Fundamentals

1.1. Introduction 1.1. Introduction

What is a Robotics? Historical Development
Robotics is the art, knowledge base, and know-how of • The first modern industrial Robot were the Unimates, made by
designing, applying, and using robots in human endeavors. Robotic Joseph Engelberger (1925–2015) in the early 1960s.
systems consist of not just robots, but also other devices and systems • Engelberger has been called the father of Robotics.
that are used together with the robots.
Robotics is an interdisciplinary subject that benefits from
mechanical engineering, electrical and electronic engineering,
computer science, cognitive sciences, biology, and many other
disciplines.

1.3. Basic structure of Robot 1.2. Robot Degrees of Freedom

The degrees of freedom (DOF) of a mechanical system is

the number of independent parameters that define its configuration
or state.

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Introduction to Robotics 16 C1. Overviews and Fundamentals Introduction to Robotics 14 C1. Overviews and Fundamentals

1.4. Robot Components 1.2. Robot Degrees of Freedom

Link
Every individual rigid member of a robot that can move relative
to all other members is called a link.
Any two or more connected links, such that no relative motion
can occur among them, are considered a single compound link.

Study [Link video]

Experiment
HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 19 C1. Overviews and Fundamentals Introduction to Robotics 17 C1. Overviews and Fundamentals

1.4. Robot Components 1.4. Robot Components

Manipulator Joint
• The main body of a robot consisting of the links, joints, and other • Two links are connected by contact at a joint where their relative
structural elements is called the manipulator. motion can be expressed by a single joint coordinate.
• A manipulator becomes a robot when we attach wrist and • Joints are typically revolute (R) (rotary) or prismatic (P)
gripper, and install its control system. (translatory).
• In literature robots and manipulators are utilized equivalently and
both refer to robots.

Revolute joint Prismatic joint

Model of 3R manipulator Symbol of Revolute joint and Prismatic joint in robot model
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Introduction to Robotics 20 C1. Overviews and Fundamentals Introduction to Robotics 18 C1. Overviews and Fundamentals

1.4. Robot Components 1.4. Robot Components

Wrist Joint
• The joints in the kinematic chain of a robot between the forearm • The coordinate of an active
and end-effector are referred to as the wrist. joint is controlled by an
• It is common to design manipulators with spherical wrists. It actuator. A passive joint
means three revolute joint axes intersecting at a common point does not have any actuator.
called the wrist point. • The value of the coordinate
describing the relative
position of two connected
links at a joint is called joint
coordinate or joint variable.
It is an angle for a revolute
joint, and a distance for a
prismatic joint.

1.4. Robot Components 1.4. Robot Components

Actuators Wrist
• Actuators are drivers that act as muscles of robots to change their • The manipulator will possess three degrees-of-freedom for
configuration. position of the wrist point. Positioning is set by controlling three
• The actuators provide power to act on the mechanical structure joints of three arms.
against gravity, inertia, and other external forces to modify the • The number of DOF for orientation will then depend on the wrist,
geometric location and orientation of the robot’s hand. having one, two, or three DOF depending on the application.
• The actuators can be of electric, hydraulic, or pneumatic, and
have to be controllable.

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Introduction to Robotics 24 C1. Overviews and Fundamentals Introduction to Robotics 22 C1. Overviews and Fundamentals

1.4. Robot Components 1.4. Robot Components

Sensors End-Effector
• The elements that are utilized to detect and collect information • The end-effector is the part mounted on the last link to do the
about internal and environmental states are sensors. required job of the robot, performing specific work.
• The joints’ positions, velocities, accelerations, and forces are the • The wrist and end-effector assembly is also called a hand.
most important information to be sensed and measured.
• Sensors, integrated into the robot, send information about each
link and joint to the control unit, and the control unit determines
the configuration of the robot.

1.5. Robot Classifications 1.4. Robot Components

Classification of Robot Association Controller
▪ Class 4: Playback robot: A human operator performs the The controller or control unit of a robot has three roles:
task manually by leading the robot, which records the motions ▪ Information role, which consists of collecting and processing the
for later playback. The robot repeats the same motions information provided by the robot’s sensors.
according to the recorded information.
▪ Decision role, which consists of planning the geometric motion
▪ Class 5: Numerical control robot: The operator supplies the of the robot structure.
robot with a motion program rather than teaching it the task
manually. ▪ Communication role, which consists of organizing the
information between the robot and its environment.
▪ Class 6: Intelligent robot: A robot with the ability to
understand its environment and the ability to successfully The control unit includes the processor and software.
complete a task despite changes in the surrounding conditions
under which it is to be performed.

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Introduction to Robotics 28 C1. Overviews and Fundamentals Introduction to Robotics 26 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Classification of Robot Association Classification of Robot Association
• The Robotics Institute of America (RIA) considers classes 3-6 • The Robot Association divides robots in 6 different classes:
of the following classification to be Robots. ▪ Class 1: Manual handling devices: A device with multi
• The Association Francaise de Robotique (AFR) combines degrees of freedom that is actuated by an operator.
classes 2-4, as the same type and divides robots in 4 classes. ▪ Class 2: Fixed sequence robot: A device that performs
• The Japanese Industrial Robot Association has 6 classes. successive stages of a task according to a predetermined and
fixed program.
▪ Class 3: Variable sequence robot: A device that performs
successive stages of a task according to a predetermined but
programmable method.

1.5. Robot Classifications 1.5. Robot Classifications

Robot Coordinates Robot Coordinates
Cylindrical Robots (PRP): Cylindrical coordinate robots Cartesian/rectangular/gantry Robots (3P): These robots
have two prismatic joints and one revolute joint for positioning use three prismatic joints to position the end effector, usually
the part, plus revolute joints for orientation. followed by additional revolute joints that orient the end effector.
That is used for pick and place, assembly operations,
application of sealant, and arc welding.

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Introduction to Robotics 32 C1. Overviews and Fundamentals Introduction to Robotics 30 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Robot Coordinates Robot Coordinates
Selective Compliance Assembly Robot Arm (SCARA): Spherical/Polar Robots (P2R): Robots follow a spherical
SCARA robots have two (or three) revolute joints that are parallel coordinate system, which has one prismatic and two revolute
and allow the robot to move in a horizontal plane, plus an additional joints for positioning the part, plus additional revolute joints for
prismatic joint that moves vertically. orientation.
SCARA robots are very common in assembly operations.

1.5. Robot Classifications 1.5. Robot Classifications

Geometry Robot Coordinates
• A robot is called Articulated/anthropomorphic Robots (3R): An articulated
▪ a serial or open-loop manipulator: its kinematic structure robot’s joints are all revolute, similar to a human’s arm. They are
does not make a loop chain. the most common configuration for industrial robots.

▪ a parallel or closed-loop manipulator: its structure makes a

loop chain.
▪ a hybrid manipulator: its structure consists of both open
and closed-loop chains.
• Most industrial manipulators have six DOF.

[Link video]
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Introduction to Robotics 36 C1. Overviews and Fundamentals Introduction to Robotics 34 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Geometry Robot Coordinates
• Using the two types of joints (P or R ): Parallel robots: Parallel robots is a mechanical system that
▪ there are mathematically 72 different industrial manipulator uses several serial chains to support a single platform, or end-
configuration. effector.

▪ the axes of two adjacent joints can be parallel (∥), orthogonal A delta robot is a type of parallel robot that consists of three
(⊢), or perpendicular (⊥). arms connected to universal joints at the base.

• Out of the 72 possible manipulators, the important ones are:

R R P (SCARA), R R R (articulated), R R P (spherical),
R P P (cylindrical), and P P P (Cartesian).

[Link video]
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Introduction to Robotics 39 C1. Overviews and Fundamentals Introduction to Robotics 37 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Workspace Geometry
• The workspace of a manipulator: the total volume of space the
end-effector can reach.
• The workspace is constrained by the geometry of the manipulator
as well as the mechanical constraints on the joints.
[1] [2] [3]
• The workspace is broken into
▪ a reachable workspace: the volume of space within which
every point is reachable by the end-effector in at least one
orientation.
▪ a dexterous workspace: The dexterous workspace is the
volume of space within which every point can be reached by
the end effector in all possible orientations. The dexterous [4] [5] [6]
workspace is a subset of the reachable workspace.
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Introduction to Robotics 40 C1. Overviews and Fundamentals Introduction to Robotics 38 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Workspace Workspace
• The workspace of a manipulator: the total volume of space the
end-effector can reach. The workspace is constrained by the
geometry of the manipulator as well as the mechanical constraints
on the joints.
• The workspace is broken into
▪ a reachable workspace: the volume of space within which
every point is reachable by the end-effector in at least one
orientation.
▪ a dexterous workspace: The dexterous workspace is the
volume of space within which every point can be reached by
a reachable workspace & a dexterous workspace the end effector in all possible orientations. The dexterous
[Link video] workspace is a subset of the reachable workspace.
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Introduction to Robotics 43 C1. Overviews and Fundamentals Introduction to Robotics 41 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Control Workspace
• Robots can be classified by control method into servo (closed
loop control) and non-servo (open loop control) robots.
• Servo (closed loop control)
▪ Point-to-point.
▪ Continuous path.
• Non-servo (open loop control)
▪ Movement is limited to predetermined mechanical stops, and
they are primarily used for materials transfer.

Typical approximate workspaces for common robot configurations

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Introduction to Robotics 44 C1. Overviews and Fundamentals Introduction to Robotics 42 C1. Overviews and Fundamentals

1.5. Robot Classifications 1.5. Robot Classifications

Application Actuation
• Robots can mainly be classified according to their application into • Actuators translate power into motion.
assembly and non-assembly robots. • Robots are typically actuated electrically, hydraulically, or
• In the industry they are classified by the category of application pneumatically. Other types of actuation might be considered as
▪ Machine loading ▪ Manufacturing piezoelectric, magnetostriction, shape memory alloy, and
polymeric.
▪ Pick and place ▪ Biomedical
• Electrically actuated robots: AC or DC motors ; cleaner, quieter,
▪ Welding ▪ Assisting and more precise compared to the hydraulic and pneumatic
▪ Painting ▪ Remote controlled mobile actuated.
▪ Assembling ▪ Telerobot • Hydraulic actuators: high speed and high torque/mass or
▪ Inspecting power/mass ratios; lifting heavy loads.

▪ Sampling • Pneumatic actuated robots: inexpensive and simple but cannot

be controlled precisely.
HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien
Introduction to Robotics 2 C2. Rotation Kinematics Introduction to Robotics 45 C1. Overviews and Fundamentals

Consider a rigid body with a fixed point O. Rotation about the

fixed point O is the only possible motion of the body.
The rigid body is defined
by a body coordinate
frame B (Oxyz), that
rotates in another
coordinate frame G
(OXYZ) C1. End!
a body point P in both
⇒ A rotation calculus of

frames is determined a
A rotated body frame B in a fixed transformation
global frame G, about a fixed point at O matrices.

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Introduction to Robotics 3 C2. Rotation Kinematics

Introduction to Robotics
2.1. Rotation About Global Cartesian Axes
Z-axis of the global coordinate frame
• The rigid body B rotates α radians about the Z-axis of the global
coordinate frame. B T
r2 =  x2 y2 z2  in local frame
• Point P2 of the rigid body: T
G Chapter 2. Rotation Kinematics
r2 =  X 2 Y2 Z 2  in global frame

G
r2 = Q Z,α Br2
⇒ Two frames are related as follows:

Dr. Tran Minh Thien

where Qz, is the Z-rotation matrix ?!

cos  − sin  0
Q Z,α =  sin  cos  0
 
 0 0 1 
HCMUTE, Faculty of Mechanical Engineering
HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien Department of Mechatronics
Introduction to Robotics 6 C2. Rotation Kinematics Introduction to Robotics 4 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes 2.1. Rotation About Global Cartesian Axes
Example 1: Successive rotation about global axes. Y-axis of the global coordinate frame
The final position of the corner P (5, 30, 10) of the slab after
• Similarly, rotation β degrees about the Y–axis of the global
30 [deg] rotation about the Z-axis, followed by 30 [deg] about the
frame relate the local and global coordinates.
X-axis, and then 90 [deg] about the Y-axis. Can find the final global T
position of the corner P? • Consider point P: B r =  x y z
G
r = Q Y,β Br
where QY, is the Y-rotation matrix

 cos  0 sin  
Q Y,β = 0 1 0 
 
 − sin  0 cos  

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Introduction to Robotics 7 C2. Rotation Kinematics Introduction to Robotics 5 C2. Rotation Kinematics

2.1. Rotation About Global Cartesian Axes 2.1. Rotation About Global Cartesian Axes
Example 1: Successive rotation about global axes. X-axis of the global coordinate frame
• Finally, rotation γ degrees about the X–axis of the global frame
G B relate the local and global coordinates.
r2 = Q Z,α r2
T
• Consider point P: B r =  x y z
G
r = Q X,γ Br
G
r = Q X,γ Br
where QX, is the X-rotation matrix

1 0 0 
G B
r = Q Y,β r Q X,γ = 0 cos  − sin  
 
0 sin  cos  

2.2. Successive Rotation About Global Cartesian Axes 2.1. Rotation About Global Cartesian Axes
A sequence of rotations Example 1: Successive rotation about global axes.
• The final global position of a point P in a rigid body B with
position vector r, after a sequence of rotations Q1, Q2, Q3, ..., Qn
about the global axes can be found by
G
r = G QB Br

where the global rotation matrix,

G
Q B = Qn ...Q 3Q 2Q1

• A rotation matrix is orthogonal; i.e., its transpose QT is equal to its

inverse Q−1.
Q T = Q -1 Corner P and the slab at first, second, third, and final positions

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Introduction to Robotics 11 C2. Rotation Kinematics Introduction to Robotics 9 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes 2.1. Rotation About Global Cartesian Axes
Example 3: Successive global rotation matrix. Example 2: Global rotation, local position.
• The global rotation matrix after a rotation QZ,α followed by QY,β A point P is moved to Gr2 = [4, 3, 2]T after a 60 [deg]
and then QX,γ is:? rotation about the Z-axis. Find its position in the local coordinate?
G
Q B = Q X , QY , Q Z ,
1 0 0   cos  0 sin   cos  − sin  0 G
G  r2 = Q Z,α Br2
Q B = 0 cos  − sin    0 1 0   sin  cos  0
    −1 G
0 sin  cos    − sin  0 cos    0 0 1   Br2 = Q Z,α r2
 c c −c  s s  B
G
r2 = Q -1Z,60G r2 
Q B = c s + c s  s c c − s s  s −c  s 
 
 s s − c c s  c s + c s s  c c 

2.2. Successive Rotation About Global Cartesian Axes 2.2. Successive Rotation About Global Cartesian Axes
Twelve independent triple global rotations Example 4: Successive global rotations, global
• We may transform its body coordinate frame B from the position.
coincident position with a global frame G to any final orientation
• The end point P = [X1 Y1 Z1]T
by only three rotations about the global axes provided that no two
of the arm shown in Figure.
consequence rotations are about the same axis. In general, there
are 12 different independent combinations of triple rotations • The rotation matrix to find the
about the global axes. new position of the end point
after −29 [deg] rotation about
the X-axis, followed by 30 [deg]
about the Z-axis, and again 132
[deg] about the X-axis.

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Introduction to Robotics 15 C2. Rotation Kinematics Introduction to Robotics 13 C2. Rotation Kinematics

2.2. Successive Rotation About Global Cartesian Axes 2.2. Successive Rotation About Global Cartesian Axes
Global roll, pitch, and yaw rotations Example 4: Successive global rotations, global
The rotation about the X-axis of the global coordinate frame is position.
called a roll, the rotation about the Y-axis is called a pitch, and the
rotation about the Z-axis is called a yaw. The global rotation matrix is

The new position of point P is

G
r = G Q B Br

2.3. Rotation About Local Cartesian Axes 2.3. Rotation About Local Cartesian Axes
Example 5: Local rotation, local position. Local z-axis of the local coordinate frame
rotation, global position. • Consider a rigid body B with a local coordinate frame B (Oxyz)
that is originally coincident with a global coordinate frame G
(OXYZ).
• The body undergoes a rotation φ about the z-axis of its local
coordinate frame.

B
r = A z,φ G r
⇒ Two frames are related as follows:

where Az,φ is the z-rotation matrix ?!

 cos  sin  0 
A z,φ =  − sin  cos  0 
 
 0 0 1 

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Introduction to Robotics 19 C2. Rotation Kinematics Introduction to Robotics 17 C2. Rotation Kinematics

2.3. Rotation About Local Cartesian Axes 2.3. Rotation About Local Cartesian Axes
Example 5: Local rotation, local position. Local x,y-axes of the local coordinate frame
rotation, global position. Similarly, rotation θ about the y-axis and rotation ψ about the x-
axis of the local frame relate the local and global coordinates of
If a local coordinate frame Oxyz has been rotated 60 [deg] about the
point P by the following equations
z-axis and a point P in the local coordinate frame Oxyz is at (4, 3, 2)
B
r = A y , G r
B
r = A x , G r
⇒ its position in the global coordinate frame OXYZ is at

where Ay,θ is the y-rotation matrix and Ax,ψ is the x-rotation matrix

cos  0 − sin   1 0 0 
A y , = 0 1 0  A x , 
= 0 cos sin 
   
 sin  0 cos   0 − sin cos 

2.4. Successive Rotation About Local Cartesian Axes 2.3. Rotation About Local Cartesian Axes
Example 7: Successive local rotation, local position. Example 6: Successive local rotation, global position.
A local coordinate frame B(Oxyz) that initially is coincident with a The first actuator rotates the arm −90 [deg] about y-axis, and then
global coordinate frame G(OXYZ) undergoes a rotation φ = 30 [deg] the second actuator rotates the arm 90 [deg] about x-axis. If, before
about the z-axis, then θ = 30 [deg] about the x-axis, and then ψ = 30 the rotations, the end point P is at BrP = [9.5 -10.1 10.1]T
[deg] about the y-axis. The local coordinates of a point P located at
X = 5, Y = 30, and Z = 10 can be found?

The local rotation matrix is

⇒ its position in the global coordinate frame is

The coordinates of P in the local frame are

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Introduction to Robotics 23 C2. Rotation Kinematics Introduction to Robotics 21 C2. Rotation Kinematics

2.4. Successive Rotation About Local Cartesian Axes 2.4. Successive Rotation About Local Cartesian Axes
Twelve independent rotation about local axes A sequence of rotations
• We may transform a body coordinate frame B from the coincident • Consider a point P in a rigid body B(Oxyz) at position vector r.
position with a global frame G to any final orientation by Having the final global position vector Gr of P , we can determine
minimum three rotations about the local axes provided that no two its local position vector Br after a series of sequential rotations A1,
consequence rotations are about the same axis. In general, there A2, A3, . . ., An about the local axes, by
are 12 different independent combinations of triple rotation about B
r = B AG Gr
local axes.
where the local rotation matrix,
B
A G = A n ...A 3 A 2 A1

• The multiplication of rotation transformation matrices is associative

A 3 A 2 A1 = A 3  A 2 A1  =  A 3 A 2  A1

2.5. Euler Angles 2.5. Euler Angles

Example 8: Euler angle rotation matrix Definition
The Euler or precession–nutation–spin rotation matrix for φ = • The rotation about the Z-axis of the global coordinate is called
79.15 [deg], θ = 41.41 [deg], and ψ = −40.7 [deg] or φ = 1.38 [rad], precession, the rotation about the x-axis of the local coordinate is
θ = 0.72 [rad], and ψ = −0.71 [rad]. The rotation matrix is? called nutation, and the rotation about the z-axis of the local
coordinate is called spin.
• The precession (φ) – nutation (θ) – spin (ψ) rotation angles are
also called Euler angles.
• The kinematics and dynamics of axisymmetric rigid bodies have
simpler and more understandable expression based on Euler
angles.

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Introduction to Robotics 27 C2. Rotation Kinematics Introduction to Robotics 25 C2. Rotation Kinematics

2.5. Euler Angles 2.5. Euler Angles

Example 9: Euler angles of a local transformation Definition
matrix. • The Euler angle rotation matrix BAG to transform a position vector
The local rotation matrix after rotation of 30 [deg] about the z-axis, from G (OXYZ) to B (Oxyz)
then 30 [deg] about the x-axis, and then 30 [deg] about the y-axis. B
r = B AG Gr
The local rotation matrix:
where BAG is the rotation matrix

The Euler angles of the

corresponding precession–
nutation–spin rotation
matrix are ?!

2.8. General Transformation 2.6. Local Roll-Pitch-Yaw Angles

• Consider a general situation in which two coordinate frames, G Definition
(OXYZ) and B (Oxyz) with a common origin O, are employed to
express the components of a given vector r. There is always a • Rotation about the x-axis of the local frame is called roll or bank,
transformation matrix GRB to map the components of r from the rotation about y-axis of the local frame is called pitch or attitude,
reference frame B (Oxyz) to the other reference frame G (OXYZ). and rotation about the z-axis of the local frame is called yaw,
spin, or heading.
G
r = G R B B r  B r = G R B-1 G r • The local roll (φ)-pitch (θ)-yaw (ψ) rotation matrix is
• Map the components of r from the reference frame G (OXYZ) to
the other reference frame B (Oxyz) by introducing BRG
B
r = B RG G r
B G B
where, R G = G R -1B = G R TB RB = RG = 1 Note: The difference between roll-pitch-yaw and
Euler angles, although we show both utilizing roll
(φ)-pitch (θ)-yaw (ψ).

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Introduction to Robotics 31 C2. Rotation Kinematics Introduction to Robotics 29 C2. Rotation Kinematics

2.7. Local Axes Versus Global Axes Rotation

The global rotation matrix GQB is equal to the inverse of the local
rotation matrix BAG and vice versa
G B
Q B = B A G-1 A G = G Q B-1
where,
G
Q B = A1-1 A -12 A 3-1 ...A n-1
C2. End! B
A G = Q1-1Q -12 Q 3-1 ...Qn-1

Also, pre-multiplication of the global rotation matrix is equal to

post-multiplication of the local rotation matrix.

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Introduction to Robotics 3 C3. Orientation Kinematics
Introduction to Robotics
3.1. Axis–Angle Rotation
• Assume a body frame B (Oxyz) rotates ϕ about a line indicated by a
unit vector û with direction cosines u1, u2, u3.
T
uˆ = u1Iˆ + u2 Jˆ + u3 Kˆ = u1 u2 u3 
u12 + u22 + u32 = 1
Chapter 3. Orientation Kinematics

• Two parameters are necessary to define the unit vector û through O, and Dr. Tran Minh Thien
⇒ This is called axis–angle representation of a rotation.

one is necessary to define the amount of rotation ϕ of the rigid body about
û.

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Introduction to Robotics 4 C3. Orientation Kinematics Introduction to Robotics 2 C3. Orientation Kinematics

3.1. Axis–Angle Rotation

• Any rotation ϕ of a rigid body
• The axis–angle transformation matrix GR
that maps the coordinates
B with a fixed point O about a
in the local frame B (Oxyz) to the corresponding coordinates in the fixed axis û can be
global frame G (OXYZ) decomposed into three
rotations about three given
G
r = G RB B r non-coplanar axes including
the global or body principal
where,
exes.

• Determination of the angle

and axis is called the
orientation kinematics of Axis of rotation û when it is
rigid bodies. coincident with the local z-axis

3.1. Axis–Angle Rotation 3.1. Axis–Angle Rotation

Example 2: Axis and angle of rotation • ũ is the skew symmetric matrix corresponding to the vector û.
Consider a cubic rigid body with a fixed point at A and a unit length
of edges as is shown in Figure. If we turn the cube 45 [deg] about u =
[1 1 1]T, then we can find the global coordinates of its corners using
Rodriguez transformation matrix.
• A matrix ũ is skew symmetric if: u T = −u

• Given a transformation matrix GRB we can obtain the axis û and angle ϕ of
the rotation by

where,

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Introduction to Robotics 8 C3. Orientation Kinematics Introduction to Robotics 6 C3. Orientation Kinematics

3.1. Axis–Angle Rotation 3.1. Axis–Angle Rotation

Example 2: Axis and angle of rotation Example 1
The local coordinates of the corners are
matrix for a special known case axis of rotation.
Axis–angle rotation when û = 𝑲. Simplifying the axis–angle rotation

• The local frame B (Oxyz) rotates about the Z-axis,

• The transformation matrix reduces to

The global coordinates of the corners after the rotation will be

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⇒ which is equivalent to the rotation matrix about the Z-axis of global frame.

© Dr. Tran Minh Thien © Dr. Tran Minh Thien

Introduction to Robotics 11 C3. Orientation Kinematics Introduction to Robotics 9 C3. Orientation Kinematics

3.1. Axis–Angle Rotation 3.1. Axis–Angle Rotation

Example 3: Axis and angle of a rotation matrix Example 2: Axis and angle of rotation
Point G is on the axis of rotation, so its coordinates will not change.
Points B, D, F, and H are in a symmetric plane indicated by û.
Therefore, they will move on a circle.
Let us call the midpoint of the cube by P

• We may verify the angle-axis rotation formula and derive the same
rotation matrix

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Introduction to Robotics 12 C3. Orientation Kinematics Introduction to Robotics 10 C3. Orientation Kinematics

3.2. Euler Parameters 3.1. Axis–Angle Rotation

• Assume ϕ to be the angle of rotation of a body coordinate frame Example 3: Axis and angle of a rotation matrix
A body coordinate frame B undergoes three Euler rotations (φ, θ,
G(OXYZ).
ψ) = (30, 45, 60) deg with respect to a global frame G.
B(Oxyz) about û = u1 𝑰+ u2 𝑱 + u3 𝑲 relative to a global frame

• Euler Rigid Body Rotation Theorem. The most general

• The rotation matrix to transform coordinates of B to G is
displacement of a rigid body with one fixed point is a rotation about
an axis.
• To find the axis and angle of rotation we introduce the Euler
parameters e0, e1, e2, e3 such that e0 is a scalar and e1, e2, e3 are
components of a vector e,
The unique angle-axis of rotation for this rotation matrix can then be
found

3.2. Euler Parameters 3.2. Euler Parameters

Example 4: Axis–angle rotation GRB for a ϕ and û • The transformation matrix GRB to satisfy the equation Gr = GRBBr can
Euler parameters for rotation ϕ = 30 deg about û = be derived based on Euler parameters.
(𝐼 + 𝐽+ 𝐾)/ 3

• The corresponding transformation matrix GRB is

where, ẽ is the skew symmetric matrix corresponding to vector e.

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Introduction to Robotics 16 C3. Orientation Kinematics Introduction to Robotics 14 C3. Orientation Kinematics

3.2. Euler Parameters 3.2. Euler Parameters

Euler parameters and Euler angles relationship • Given a transformation matrix GRB we may obtain Euler parameters
• The following relationships between Euler angles and Euler
parameters

• Determine the angle ϕ and axis of rotation û.

• Euler parameters provide a well-suited, redundant, and non-singular

rotation description for arbitrary and large rotations.

3.3. Exercises 3.2. Euler Parameters

Calculate the Euler parameters

Case 1

Case 2

Case 3

Case 4

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Introduction to Robotics 20 C3. Orientation Kinematics Introduction to Robotics 18 C3. Orientation Kinematics

3.3. Exercises

C3. End!

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Introduction to Robotics 3 C4. Motion Kinematics
Introduction to Robotics
4.1. Rigid Body Motion
The displacement or translation
Consider a rigid body with an attached body coordinate frame B
(oxyz) moving in a fixed global coordinate frame G(OXYZ).
• The displacement vector Gd indicates the position of the moving
origin o relative to the fixed origin O, then the coordinates of a Chapter 4. Motion Kinematics
body point P in local and global frames are related by
G
rP = G R B B rP + G d
Dr. Tran Minh Thien
where,

The vector Gd is called the displacement or translation of B

with respect to G; GRB is the rotation matrix, when Gd = 0.
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Introduction to Robotics 4 C4. Motion Kinematics Introduction to Robotics 2 C4. Motion Kinematics

4.1. Rigid Body Motion • The most general motion of a rigid body B in a global frame G is
Example 1: Translation and rotation of a body made by a rotation ϕ about an axis û (vector), plus a displacement
coordinate frame d.
• The rigid body motion may be expressed by a 3×3 rotation matrix
A body coordinate frame B(oxyz), that is originally coincident with
plus a 3×1 displacement vector.
global coordinate frame G(OXYZ), rotates 45 [deg] about the X-axis and
translates to [3 5 7]T . Find, the global position of a point at Br = [x y z]T. • Expressing by a 4 × 4 homogenous transformation matrix.

Rotation and translation of a local frame with respect to a global frame

4.1. Rigid Body Motion 4.1. Rigid Body Motion

Example 3: Rotation of a translated rigid body Example 2: Moving body coordinate frame
A Point P of a rigid body B has an initial position vector BrP = [1 2
3]T.If the body rotates 45 [deg] about the x-axis and then translates to rotated 50 [deg] about the Z-axis and translated −1 along X, 0.5 along
A point P at BrP = 0.1𝚤̂ + 0.3𝚥̂ + 0.3𝑘 in a body frame B, which is

Gd = [4 5 6]T , find the final global position of P .

Y, and 0.2 along the Z axes. Find the position GrP of P in global
coordinate frame.

The rotation occurs first when Gd = 0 and then translation happens.

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Introduction to Robotics 8 C4. Motion Kinematics Introduction to Robotics 6 C4. Motion Kinematics

4.1. Rigid Body Motion 4.1. Rigid Body Motion

Example 4: Arm rotation plus elongation !? Example 2: Moving body coordinate frame
Position vector of point P1 at the tip of a PR arm shown in Figure is
rotated 50 [deg] about the Z-axis and translated −1 along X, 0.5 along
A point P at BrP = 0.1𝚤̂ + 0.3𝚥̂ + 0.3𝑘 in a body frame B, which is

Y, and 0.2 along the Z axes. Find the position GrP of P in global
at 𝐺𝑟𝑃1 = 𝐵𝑟𝑃1 = 1350 0 900 𝑇 mm. The arm rotates 60 [deg] about the

of the arm is shown in Figure. coordinate frame.

global Z-axis and elongates by d = 720.2𝚤̂ mm. The final configuration

4.2. Homogenous Transformation 4.2. Homogenous Transformation

• Representation of an n-component position vector by an (n + 1)-
component vector is called homogenous coordinate representation. • A rigid body with coordinate frame B is moving in a globally fixed
• The appended element is a scale factor, w; hence, in general, coordinate frame G. The position vector of an arbitrary point P of
homogenous representation of a position vector r = [x y z]T is the rigid body is denoted by BrP and GrP in the frames.
• The translation vector Gd indicates the position of origin o of the
body frame B in the global frame G.
• The general motion of a rigid body B (oxyz) in the global frame G
(OXYZ) is a combination of rotation GRB and translation Gd.
• Instead, it is the three ratios, r1/w, r2/w, and r3/w, that
G
are important because, provided w ≠ 0, and w ≠ ∞, w r = G RB B r + G d

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Introduction to Robotics 14 C4. Motion Kinematics Introduction to Robotics 12 C4. Motion Kinematics

4.2. Homogenous Transformation 4.2. Homogenous Transformation

Example 5: Rotation and translation of a body coordinate frame Combining a rotation matrix plus a vector can be expressed better
by homogenous transformation matrix. Introducing a 4 × 4
A body coordinate frame B(oxyz), that is originally coincident with homogenous transformation matrix GTB
global coordinate frame G(OXYZ), rotates 45 deg about the X-axis and G
translates to [3 5 7 1]T . Find the matrix representation of the global r = G TB B r
position of a body point at Br = [x y z 1]T where,

4.2. Homogenous Transformation 4.2. Homogenous Transformation

Example 7: Rotation about and translation along a Example 6: An axis–angle rotation and a translation
global and local axes A cubic rigid body with a unit length of edges sits at the corner of
the first quadrant as is shown in Figure. If we turn the cube 45 deg
A point P is located at Br = (0, 0, 20) in a body coordinate frame. If about u = [1 1 1]T and translate it by Gd = [1 1 1]T, determine the
the rigid body rotates 30 deg about the global X-axis and the origin of coordinates of the corners of the cube after the rigid body motion.
the body frame translates to (X, Y, Z) = (50, 0, 60), then the coordinates
of the point in the global frame are

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Introduction to Robotics 21 C4. Motion Kinematics Introduction to Robotics 19 C4. Motion Kinematics

4.3. Inverse and Reverse Homogenous Transformation 4.2. Homogenous Transformation

The advantage of simplicity to work with homogenous
Decomposition of GTB into translation and rotation
transformation matrices come with the penalty of losing the Homogenous transformation matrix GTB can be decomposed into a
orthogonality property. If we show a rigid body motion by the matrix multiplication of a pure rotation matrix GRB and a pure
homogenous transformation GTB translation matrix GDB.

The inverse of homogenous transformation matrix GTB is

Decomposition of a
homogenous transformation to
translation and rotation is not
interchangeable

4.3. Inverse and Reverse Homogenous Transformation 4.3. Inverse and Reverse Homogenous Transformation
Quick inverse transformation
The reverse motion of GTB would be GT−B
Decompose a transformation matrix into rotation [R] and
displacement [D] and take advantage of the inverse of matrix
multiplication.

Consider a homogenous matrix [T] Showing that

where I4 is the identity matrix of rank 4.

Note a shortcoming is that they lose the orthogonality property

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Introduction to Robotics 25 C4. Motion Kinematics Introduction to Robotics 23 C4. Motion Kinematics

4.4. Combined Homogenous Transformation 4.3. Inverse and Reverse Homogenous Transformation
The transformation matrices to transform coordinates from frame Example 8: Inverse of a homogenous transformation
B to A and from frame C to B are
matrix

Assume that

4.4. Combined Homogenous Transformation 4.4. Combined Homogenous Transformation

Example 9: A rotating cylinder The transformation matrix from C to A is
Imagine a cylinder with radius R = 2 that is going to turn about the
axis û = [0 0 1]T at d = [2 0 0]T. If the cylinder turns 90 deg about its
axis, then every point on the periphery of the cylinder will move 90
deg on circular paths parallel to (x, y)-plane.

The inverse transformation is

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Introduction to Robotics 29 C4. Motion Kinematics Introduction to Robotics 27 C4. Motion Kinematics

4.4. Combined Homogenous Transformation 4.4. Combined Homogenous Transformation

Example 9: A rotating cylinder
The value of homogenous coordinates are better appreciated when
Consider a point of cylinder that was on the origin. After the several displacements occur in succession, which, for instance, can be
rotation, the point would be seen at: written as

Rather than

4.5. Screw Coordinates 4.4. Combined Homogenous Transformation

Any rigid body motion can be replaced by a single translation Example 10: End-effector of an RPR robot in a global
along an axis combined with a unique rotation about that axis. Such a frame
motion is called screw motion. Position vector of P in frame B2 (x2y2z2) is 2rP . Frame B2 (x2y2z2) at
location Gd1 can rotate about z2 and slide along y1. Frame B1 (x1y1z1)
A point P that rotates about the can rotate about the Z-axis of the global frame G(OXYZ).
screw axis û and simultaneously
translates along the same axis û.
Hence, any point on the screw axis
moves along the axis, while any point
off the axis moves along a helix.

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Introduction to Robotics 33 C4. Motion Kinematics Introduction to Robotics 31 C4. Motion Kinematics

4.5. Screw Coordinates 4.4. Combined Homogenous Transformation

The angular rotation of the rigid body about the screw is called Example 10: End-effector of an RP R robot in a
twist. A screw motion is indicated by its pitch, p, that is the ratio of global frame
translation, h, to rotation, ϕ.
The position of the origin of B1 is shown by 1d2 in B2. To determine
the position of P in G(OXYZ), we add Gd1 and Gd2 and GrP .
The rectilinear distance h through which the rigid body translates
parallel to the axis of screw û for a unit rotation ϕ is the pitch p. If p >
0, then the screw is right-handed, and if p < 0, it is left-handed.
where,
ϕ, û, s) and is indicated by a
twist axis unit vector û, a location vector s, a twist angle ϕ, and a
A screw motion 𝒔 is shown by 𝑠(h,̌

translation h (or a pitch p).

The location vector s indicates the global position of a point on the
screw axis. The twist angle ϕ, the twist axis û, and the pitch p (or
translation h) are called screw parameters.
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Introduction to Robotics 38 C4. Motion Kinematics Introduction to Robotics 34 C4. Motion Kinematics

4.5. Screw Coordinates

For a central screw motion, we have

where,

C4. End!

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Introduction to Robotics 35 C4. Motion Kinematics

Introduction to Robotics
4.5. Screw Coordinates
Hence,

Chapter 5. Forward Kinematics

As a result, a central screw transformation matrix indicates a pure
translation corresponds to ϕ = 0, and a pure rotation corresponds to h =
Dr. Tran Minh Thien 0 (or p = ∞).
A reverse central screw is defined as 𝑠(‒h,
̌ ‒ϕ, û).

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Introduction to Robotics 5 C5. Forward Kinematics Introduction to Robotics 3 C5. Forward Kinematics

5.1. Denavit–Hartenberg Notation

• A serial robot with n joints will have n + 1 links.
• Numbering of links starts from link (0) for the immobile grounded
base link and increases sequentially up to link (n) for the end-
effector.
• Numbering of joints starts from 1, and increases sequentially up to
joint n.
• The link (i) is connected to its lower link (i − 1) at its proximal end
by joint i and is connected to its upper link (i + 1) at its distal end by
joint i + 1.

Forward and inverse kinematics

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Introduction to Robotics 6 C5. Forward Kinematics Introduction to Robotics 4 C5. Forward Kinematics

5.1. Denavit–Hartenberg Notation

• Figure illustrates links (i − 1), (i), and (i + 1) of a serial robot, along • Forward kinematics means having the joint variables of a robot,
with joints i − 1, i, and i + 1. we are able to determine the position and orientation of every link
• Numbering of links starts from link (0) for the immobile grounded of the robot, including the end-effector.
base link and increases sequentially up to link (n) for the end- • The analysis of determination of position and orientation of all
effector. Every joint is indicated by a joint axis, which will be either links of a robot relative to each other is called forward kinematics.
translational or rotational.

• We rigidly attach a local

coordinate frame Bi to every
link (i) at joint i + 1 based
on the following standard
method, known as Denavit–
Hartenberg (DH) method.

5.1. Denavit–Hartenberg Notation 5.1. Denavit–Hartenberg Notation

Denavit–Hartenberg’s (DH) rules Denavit–Hartenberg (DH) principles
1. Link length i is the distance between zi−1 and xi axes along the xi- • The zi-axis is aligned with the i + 1 joint axis.

axis, from zi−1 to zi axes. • The xi-axis is defined along the common normal between the zi−1
and zi axes, pointing from the zi−1 to the zi-axis.
axis. ai is the kinematic length of the link (i). ⇒ i is along the xi-

2. Link twist i (alpha) is the required rotation of the zi−1 -axis about
• The yi-axis is determined by the right-hand rule, yi = zi × xi.
axis, from zi−1 to zi axes.
the xi-axis to become parallel to the zi -axis. ⇒ i is about the xi-

3. Joint distance di is the distance between xi−1 and xi axes along the
zi), attached to the link (i), is placed at the intersection of the joint
⇒ By applying the DH method, the origin oi of the frame Bi (oi, xi, yi,

axis i + 1 with the common normal between the zi−1 and zi axes.
zi−1-axis, from xi−1 to xi axes.
zi−1-axis. Joint distance is also called link offset. ⇒ di is along the

4. Joint angle θi is the required rotation of xi−1-axis about the zi−1-

from xi−1 to xi axes.

axis to become parallel to the xi-axis. ⇒ θi is about the zi−1-axis,

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Introduction to Robotics 10 C5. Forward Kinematics Introduction to Robotics 8 C5. Forward Kinematics

5.1. Denavit–Hartenberg Notation 5.1. Denavit–Hartenberg Notation

Denavit–Hartenberg’s (DH) rules Denavit–Hartenberg (DH) principles

• The parameters θi and di are called joint parameters, defining the • A DH coordinate frame is identified by four parameters: ai, αi, θi,
relative position of two adjacent links connected at joint i. and di.

variable, and the value of di is fixed.

⇒ For a revolute joint (R) at joint i, the θi is the unique joint

the value of θi is fixed.

⇒ For a prismatic joint (P), the di is the only joint variable, while

• The joint parameters θi and di define a screw motion because θi is a

rotation about the zi−1-axis and di is a translation along the zi−1-axis.

5.1. Denavit–Hartenberg Notation 5.1. Denavit–Hartenberg Notation

Example 1: DH table and coordinate frames for 3R Denavit–Hartenberg’s (DH) rules
planar manipulator.
• The parameters αi and ai are called link parameters, because they
The DH table can be filled
define relative positions of joints i and i + 1 at two ends of link (i).
• The link twist αi is the angle of rotation zi−1-axis about xi to become
parallel with the zi-axis.
• The other link kinematic length parameter, ai, is the translation along
the xi-axis to bring the zi−1-axis on the zi-axis.
• The link parameters αi and ai define a screw motion because αi is a
rotation about the xi-axis and ai is a translation along the xi-axis.

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Introduction to Robotics 14 C5. Forward Kinematics Introduction to Robotics 12 C5. Forward Kinematics

5.1. Denavit–Hartenberg Notation 5.1. Denavit–Hartenberg Notation

Example 2: Coordinate frames for a 3R PUMA robot. Example 1: DH table and coordinate frames for 3R
It has R R||R main structure. planar manipulator.
Frame no. ai i di i An R||R||R manipulator is a planar robot with three parallel revolute
1 0 90deg 0 joints. Figure illustrates a 3R planar manipulator robot.
2 l2 0 ‒l1
𝜃1

3 l3 0 0
𝜃2
𝜃3

5.2. Transformation Between Adjacent Coordinate Frames 5.1. Denavit–Hartenberg Notation

• The transformation matrix i−1Ti to transform coordinate frames Bi Example 3: Stanford arm.
into Bi−1 is represented as a product of four basic transformations A schematic illustration of the Stanford arm is a spherical robot
using the parameters of link (i) and joint i. 𝑹 ⊢ 𝑹 ⊢ 𝑷 attached to a spherical wrist 𝑹 ⊢ 𝑹 ⊢ 𝑹.

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Introduction to Robotics 18 C5. Forward Kinematics Introduction to Robotics 16 C5. Forward Kinematics

5.2. Transformation Between Adjacent Coordinate Frames 5.2. Transformation Between Adjacent Coordinate Frames
• The coordinate frame Bi is fixed to the link (i) and the coordinate
frame Bi−1 is fixed to the link (i − 1).
• The following prescribed set of two rotations and two translations
is also a straightforward method to move the frame Bi−1 to coincide
with the frame Bi. This is a method to make a transformation
• Therefore, the transformation equation from coordinate frame Bi(xi, matrix iTi−1:
yi, zi), to its previous coordinate frame Bi−1(xi−1, yi−1, zi−1), is 1. Translate frame Bi−1 along the zi−1 -axis by distance di.
2. Rotate frame Bi−1 through θi around the zi−1 -axis.
3. Translate frame Bi−1 along the xi-axis by distance ai.
4. Rotate frame Bi−1 through αi about the xi-axis.

5.2. Transformation Between Adjacent Coordinate Frames 5.2. Transformation Between Adjacent Coordinate Frames
Example 5: DH application for spherical robot. !?
Figure illustrates a spherical manipulator equipped with a spherical
wrist. A spherical manipulator is an R⊢R⊢P arm. • The inverse of the homogenous transformation matrix is

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Introduction to Robotics 23 C5. Forward Kinematics Introduction to Robotics 20 C5. Forward Kinematics

5.2. Transformation Between Adjacent Coordinate Frames 5.2. Transformation Between Adjacent Coordinate Frames
Example 5: DH application for spherical robot. !? Example 4: DH transformation matrices for a 2R
The homogenous transformation matrices are planar manipulator.
Figure illustrates an R||R planar manipulator and its DH link
coordinate frames.

5.3. Forward Position Kinematics of Robots 5.2. Transformation Between Adjacent Coordinate Frames
• For an n-DOF robot, at least n transformation matrices, one for
every link, are required to determine the global coordinate of any A closed-loop robot provides a constraint on transformation
point in any frame. matrices,
• The configuration of the multibody when all the joint variables are
zero is called the rest position.
where, the transformation matrix [T] contains elements that are
functions of a2, d, a3, θ3, a4, θ4, θ1. The parameters a2, a3, and a4 are
constant, while d, θ3, θ4, θ1 are variables.
Assuming θ1 is input and specified, we may solve for other
unknown variables θ3, θ4, d by equating the corresponding elements of
[T] and I.

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Introduction to Robotics 28 C5. Forward Kinematics Introduction to Robotics 26 C5. Forward Kinematics

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
• The forward or direct kinematics is the transformation of
kinematic information from the robot joint variable space to the
• If the links of a robot are arranged such that every link (i) has only Cartesian coordinate space.
one coordinate frame Bi and the frames are arranged sequentially,
then:
given set of joint variables is the main problem in forward
⇒ Determining the end-effector position and orientation for a

kinematics.

• Determine the coordinates of any point P of link (i) in the base frame kinematic information of link (i) in the base link coordinate frame.
⇒ Determining transformation matrices 0Ti to express the

• The traditional way of producing forward kinematic equations for

robotic manipulators is to proceed link by link using the Denavit–
Hartenberg transformation matrices.

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 9: R||R||R, planar manipulator forward Example 7: A 2R planar manipulator. !?
kinematics. Figure illustrates a 2R or R||R planar manipulator with two parallel
The transformation matrices i−1Ti for i = 3, 2, 1 can be found revolute joints. Find, the transformation matrices 0T1, 1T2, 0T2

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Introduction to Robotics 35 C5. Forward Kinematics Introduction to Robotics 33 C5. Forward Kinematics

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 9: R||R||R, planar manipulator forward Example 9: R||R||R, planar manipulator forward
kinematics. kinematics.
The transformation matrices i−1Ti for i = 3, 2, 1 can be found Application of DH matrices in forward kinematic analysis of a
planar 3 DOF robot.

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 10: 3R, R R||R, articulated arm forward Example 9: R||R||R, planar manipulator forward
kinematics. kinematics.
How to determine forward kinematics of the robot? The origin of the frame B3 is the tip point of the robot. Its position is
at

It means we can find the coordinate of the tip point in the base
Cartesian coordinate frame

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Introduction to Robotics 39 C5. Forward Kinematics Introduction to Robotics 37 C5. Forward Kinematics

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 10: 3R, R R||R. Example 9: R||R||R, planar manipulator forward
kinematics.

The rest position of the manipulator is lying on the x0-axis where θ1

= 0, θ2 = 0, θ3 = 0 because 0T3 becomes

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 10: 3R, R R||R. Example 10: 3R, R R||R.
The tip point P of the third arm is at 3rP = [0 0 l3]T in B3 The successive transformation matrices have the following
expressions:

The transformation matrix at rest position, where θ1 = 0, θ2 = 0, θ3 =

0, is

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Introduction to Robotics 43 C5. Forward Kinematics Introduction to Robotics 41 C5. Forward Kinematics

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 10: 3R, R R||R. Example 10: 3R, R R||R.
The tip point P of the third arm is at in B3 To express the complete forward kinematics transformation:

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 11: SCARA robot (R||R||R||P). Example 11: SCARA robot (R||R||R||P).
The third link is an R||R(0) with zero length, Consider the R||R||R||P robot shown in Figure.

The fourth link is an R||P(180)

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Introduction to Robotics 47 C5. Forward Kinematics Introduction to Robotics 45 C5. Forward Kinematics

5.3. Forward Position Kinematics of Robots 5.3. Forward Position Kinematics of Robots
Example 11: SCARA robot (R||R||R||P). Example 11: SCARA robot (R||R||R||P).
The configuration of the end-effector in the base coordinate frame The first link is an R||R(0), which has the following transformation
is matrix:

The second link is also an R||R(0)

It shows the rest position of the robot θ1 = θ2 = θ3 = d = 0 is at

5.4. Spherical Wrist 5.4. Spherical Wrist

• A Roll–Pitch–Roll spherical wrist with the following transformation
• The spherical joint connects two links: the forearm link and hand
matrix are illustrated
link.
• The axis of the forearm and hand are colinear at the rest position of
the hand.
• An industrial spherical wrist is to simulate a spherical joint and
provide 3 rotational DOF for the gripper link.
• The following transformation matrix provides the configuration of
the tool frame B7 in the forearm coordinate frame B3

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5.4. Spherical Wrist 5.4. Spherical Wrist

• The transformation matrix at rest position, where θ4 = 0, θ5 = 0, θ6 =
• To classify spherical wrists, let us decompose the rotations of the
0, is
spherical wrist into three rotations about three orthogonal axes,
calling the rotations, Roll, Pitch, and Yaw.

5.5. Assembling Kinematics

• Most modern industrial robots have a main manipulator and a series

of changeable wrists. The manipulator is multibody so that holds the
main power units and provides a powerful motion for the wrist point.

C5. End!

An articulator manipulator with 3 A spherical wrist and its kinematics

DOFs

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Introduction to Robotics 53 C5. Forward Kinematics

Introduction to Robotics
5.5. Assembling Kinematics
• The articulated robot that is made by assembling the spherical wrist
and articulated manipulator.

Chapter 6. Inverse Kinematics

Dr. Tran Minh Thien

An articulated robot that is made by assembling a spherical wrist to an articulated

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Introduction to Robotics 4 C6. Inverse Kinematics Introduction to Robotics 2 C6. Inverse Kinematics

6.1. Decoupling Technique • What are the joint variables for a given configuration of a robot?

• Determination of joint variables in terms of the end-effector

position and orientation is called inverse kinematics. • Determination of the joint variables reduces to solving a set of
⇒ This is the problem to be answered by inverse kinematic analysis.

nonlinear coupled.
• Mathematically, inverse kinematics is searching for the elements of
joint variable vector q, • The main difficulty of inverse kinematic is the multiple solutions.

• A transformation 0Tn is given as a function of the joint variables q1,

q2, q3, …, qn.

Multiple solution for inverse kinematic problem of a planar 2R manipulator

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Introduction to Robotics 5 C6. Inverse Kinematics Introduction to Robotics 3 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Solution of first type of trigonometric equation
The first type of trigonometric equation for the unknown angle θ is a
• Computer-controlled robots are usually actuated in the joint variable
linear combination of cos θ and sin θ.
space; however, objects to be manipulated are usually expressed in
the global Cartesian coordinate frame.
This equation can be solved by introducing two new variables r and
• To control the configuration of the end-effector to reach an object,
the inverse kinematics problem must be solved.
𝜙 such that:

Substituting the new variables in a desired orientation.

⇒ The required values of joint variables are to reach a desired point

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 1: Inverse kinematics for 2R planar manipulator Solution of first type of trigonometric equation

C1: To find θ2, we use The unknown angle θ of the trigonometric equation is:

where,

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Introduction to Robotics 9 C6. Inverse Kinematics Introduction to Robotics 7 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 1: Inverse kinematics for 2R planar manipulator Ex 1: Inverse kinematics for 2R planar manipulator
C2: Let us employ the half angle formula, Figure illustrates a 2R planar manipulator with two R∥R links. The
forward kinematics of the manipulator as:

Find θ2 using an atan2 function,

where,
The global position of the tip point of the manipulator is at:

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 2: An articulated manipulator. Ex 1: Inverse kinematics for 2R planar manipulator
The tip point P is at: • The first joint variable θ1 of an elbow up/down configuration can
geometrically be found from:

The first angle can be found from:

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Introduction to Robotics 13 C6. Inverse Kinematics Introduction to Robotics 11 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 2: An articulated manipulator. Ex 2: An articulated manipulator.
That is: Consider an articulated manipulator as is shown in Figure. The links
of the manipulator are R⊢R(90), R∥R(0), R⊢R(90)

We may combine the first and second elements of 0dP to find:

The forward kinematics of the manipulator

is:
Rewrite the third component as:

A combining Equations provides:

6.1. Decoupling Technique 6.1. Decoupling Technique

The result of forward kinematics of such a six DOF multibody is a Ex 2: An articulated manipulator.
4 × 4 transformation matrix.
That is a trigonometric equation of the form:

It is possible to decouple the inverse kinematics problem into two

subproblems, known as inverse position and inverse orientation
kinematics. ⇒ We solve this equation for θ2

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Introduction to Robotics 17 C6. Inverse Kinematics Introduction to Robotics 15 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Following the decoupling principle, the overall transformation Ex 2: An articulated manipulator.
matrix of a robot can be decomposed to a translation and a rotation.
The third element of 0dP determines θ3:

• The translation matrix 0D6 indicates the position of the end-

effector in the base frame B0 and involves only the three joint
variables of the manipulator. We will solve 0d6 for the variables that
control the wrist position.
• The rotation matrix 0R6 indicates the orientation of the end-effector
in B0 and involves only the three joint variables of the wrist.

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 3: Inverse kinematics of an articulated robot. Ex 3: Inverse kinematics of an articulated robot.
The decoupling method will be reviewed in this example for a 6
where,
DOF. The forward kinematics of the articulated robot, illustrated in
Figure.

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Introduction to Robotics 21 C6. Inverse Kinematics Introduction to Robotics 19 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 3: Inverse kinematics of an articulated robot. Ex 3: Inverse kinematics of an articulated robot.
Transformation matrix of the end-
effector was found

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 3: Inverse kinematics of an articulated robot. Ex 3: Inverse kinematics of an articulated robot.
Summing the squares of the elements of d gives The wrist position vector d = [X Y Z]T , which is [t14 t24 t34]T of 0T7
for d7 = 0, and (X, Y, Z) are coordinates of the position of the wrist
point.

Find the orientation of the end-effector by solving 3T6 or 3R6 for θ4,
θ5, θ6 It can be seen that

Combining the first two elements of d gives

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Introduction to Robotics 25 C6. Inverse Kinematics Introduction to Robotics 23 C6. Inverse Kinematics

6.1. Decoupling Technique 6.1. Decoupling Technique

Ex 3: Inverse kinematics of an articulated robot. Ex 3: Inverse kinematics of an articulated robot.
Then, the third element of d may be utilized to find

The angles θ4, θ5, θ6 can be found by examining elements of 3R6.

which can be rearranged to the following form

with two solutions:

6.2. Inverse Transformation Technique 6.2. Inverse Transformation Technique

Ex 4: Articulated manipulator and numerical case. • Assume we have the 4×4 transformation matrix 0T6 from forward
Here is the use of inverse transformation technique to solve its kinematics expressed by numbers. The matrix 0T6 includes the global
inverse kinematics. Consider the articulated manipulator shown in position and the orientation of the end-effector of a 6 DOF robot in
Figure. the base frame B0.
• Assume the individual transformation matrices 0T1(q1), 1T2(q2),
2T (q ), 3T (q ), 4T (q ), and 5T (q ) are known as functions of joint
3 3 4 4 5 5 6 6
variables analytically.

• According to forward kinematics we have:

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Introduction to Robotics 29 C6. Inverse Kinematics Introduction to Robotics 27 C6. Inverse Kinematics

6.2. Inverse Transformation Technique 6.2. Inverse Transformation Technique

Ex 4: Articulated manipulator and numerical case.
The forward kinematics of the manipulator is: • The inverse kinematics problem as follows

Therefore, we attach a coordinate frame B4 at P that is at a constant

distance l3 from B3

6.2. Inverse Transformation Technique 6.2. Inverse Transformation Technique

Ex 4: Articulated manipulator and numerical case. Ex 4: Articulated manipulator and numerical case.
Let us multiply both sides of 0T4 by 0T1−1 to have: The overall forward kinematics of the manipulator is:

Using the following dimensions: l1= 1m, l2= 1.05m, l3= 0.89m

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Introduction to Robotics 33 C6. Inverse Kinematics Introduction to Robotics 31 C6. Inverse Kinematics

6.2. Inverse Transformation Technique 6.2. Inverse Transformation Technique

Ex 4: Articulated manipulator and numerical case. Ex 4: Articulated manipulator and numerical case.
Equating the element r24 of both sides of provides an equation to Let us multiply both sides of 0T4 by 0T1−1 to have:
determine θ1.

Substituting θ1 = 0.83298 rad in provides a matrix 1T4

6.2. Inverse Transformation Technique 6.2. Inverse Transformation Technique

Ex 4: Articulated manipulator and numerical case. Ex 4: Articulated manipulator and numerical case.
We multiply both sides of 1T2−1 to have:

where,
Having θ2, we can calculate θ3 from the last column

If θ2= 0.7555 rad,

If θ2= ‒0.0.488 rad,

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Introduction to Robotics 37 C6. Inverse Kinematics Introduction to Robotics 35 C6. Inverse Kinematics

6.3. Iterative Technique 6.2. Inverse Transformation Technique

The inverse kinematics problem of robots can be interpreted as Ex 4: Articulated manipulator and numerical case.
searching for the unknowns qk of a set of nonlinear algebraic equations

Squaring the elements r14 and r24 of the left-hand sides, to

determine θ2.

where n is the number of degree of freedom (DOF) of the robot.

6.3. Iterative Technique 6.3. Iterative Technique

The most common method is known as the Newton-Raphson
method. The iteration technique can be set in an algorithm.
Inverse kinematics iteration technique.
The tolerance ϵ can equivalently be set up on variables

1. Set the initial counter i = 0.

Or, the condition Jacobian J:
2. Find or guess an initial estimate q(0).
3. Calculate the residue δT(q(i)) = J(q(i)) δq(i).
If every element of T(q(i)) or its norm , ,T(q(i)), , is less than a
tolerance, , ,T(q(i)), , < then terminate the iteration. The q(i) is
the desired solution.
4. Calculate q(i+1) = q(i) + J-1(q(i)) δT(q(i)).
5. Set i = i + 1 and return to step 3.

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Introduction to Robotics 41 C6. Inverse Kinematics Introduction to Robotics 39 C6. Inverse Kinematics

6.3. Iterative Technique 6.3. Iterative Technique

Ex 5: Inverse kinematics for a 2R planar The most common method is known as the Newton-Raphson
manipulator. method. The iteration technique can be set in an algorithm.
The position of tip point of a 2R planar manipulator is calculated Inverse kinematics iteration technique.

Define

The Jacobian
of the equations

6.3. Iterative Technique 6.3. Iterative Technique

Ex 4: Inverse kinematics for a 2R planar Ex 4: Inverse kinematics for a 2R planar
manipulator. manipulator.
Therefore, The inverse of the Jacobian is

The iterative formula is set up as:

Assume,

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6.3. Iterative Technique 6.3. Iterative Technique

Ex 4: Inverse kinematics for a 2R planar Ex 4: Inverse kinematics for a 2R planar
manipulator. manipulator.
Start from a guess value q(0)
Iteration 1.

Iteration 2.

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Introduction to Robotics 46 C6. Inverse Kinematics
Introduction to Robotics
6.2. Inverse Transformation Technique
Ex 4: Inverse kinematics for a 2R planar
manipulator.
Iteration 3.

Chapter 7. Derivative Kinematics

Dr. Tran Minh Thien Iteration 4.

The result of the fourth iteration q(4) is close enough to the exact
value q = [ π/2 −π/2]T .
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Introduction to Robotics 2 C7. Derivative Kinematics Introduction to Robotics 47 C6. Inverse Kinematics

7.1. Angular Velocity

• Angular velocity is a vectorial quantity.
• Angular velocity of a rotating body B in a global frame G is the
instantaneous rotation of the body with respect to G about an axis.

C6. End!

A rotating rigid body B(Oxyz) with a fixed point O in a global frame G(OXYZ)

7.1. Angular Velocity 7.1. Angular Velocity

7.1.1. Angular Velocity Vector and Matrix 7.1.1. Angular Velocity Vector and Matrix
• The transformation matrix maps the instantaneous coordinates of any
velocity of the corner point P (5, 30, 10), after 3s when the slab is at α fixed point in body frame B into their coordinates in the global frame
Ex: The slab is turning about the Z-axis with 𝛼̇ = 10 deg /s. The global

= t= 30 deg, is
̇ G.

• The velocity of a body point in the global frame is Gv(t),

• where GωB is the angular velocity vector of B with respect to G. It is

equal to a rotation with angular rate 𝜙̇ about an instantaneous axis of
rotation 𝑢.

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Introduction to Robotics 6 C7. Derivative Kinematics Introduction to Robotics 4 C7. Derivative Kinematics

7.1. Angular Velocity 7.1. Angular Velocity

7.1.1. Angular Velocity Vector and Matrix 7.1.1. Angular Velocity Vector and Matrix
at this moment, the point P is at • The angular velocity vector ω is associated with a skew symmetric
matrix G𝜔B called the angular velocity matrix,

The global velocity of the point P would be

• We determine the global and body expressions of the velocity of a
body point as

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.2. Rigid Body Velocity
• Consider the motion of a rigid body B in a global coordinate frame • Consider a rigid body with an attached coordinate frame B (oxyz)
G, as shown in Figure. moving freely in a fixed global coordinate frame G (OXYZ).
• At any time t ≠ t0, the B-frame is not necessarily coincident with G,
and therefore, the homogenous transformation matrix GTB(t) is time
varying.

• The velocity of a body point in global

coordinate frame can be found by
applying a homogenous
G
transformation matrix VB on the
position vector GrP (t),
A rigid body with an attached coordinate frame B (oxyz) moving freely in a global
coordinate frame G(OXYZ))

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Introduction to Robotics 10 C7. Derivative Kinematics Introduction to Robotics 8 C7. Derivative Kinematics

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.2. Rigid Body Velocity
• The coordinates of a body point P in local and global frames are
related by the following equation:
where GVB is the velocity transformation matrix.

where GdB indicates the position of the moving origin o relative to the
fixed origin O.
• The velocity of the point P in G is

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.3. Velocity Transformation Matrix
Ex: Velocity analysis of a planar R||R manipulator.
The points M1 and M2 are at

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Introduction to Robotics 16 C7. Derivative Kinematics Introduction to Robotics 14 C7. Derivative Kinematics

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.3. Velocity Transformation Matrix
The links (1) and (2) are both R||R(0), and therefore the
calculated by direct differentiation of 0T2. transformation matrices 0T1, 1T2, and 0T2 are.
To determine the velocity of M2, we calculate 0𝑇̇ 2 which can be

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.3. Velocity Transformation Matrix
Therefore, the velocity of points M1 and M2 in B0 and B1 are
We may also use the chain rule to calculate 0𝑇̇ 2

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Introduction to Robotics 20 C7. Derivative Kinematics Introduction to Robotics 18 C7. Derivative Kinematics

7.1. Angular Velocity 7.1. Angular Velocity

7.1.3. Velocity Transformation Matrix 7.1.3. Velocity Transformation Matrix
We can also determine 0vM2 by using the velocity transformation
matrix 0V2 matrices 0V1 and 1V2 by using 0T1−1 and 1T2−1.
Having 0 𝑇̇ 1 and 1 𝑇̇ 2, we can find the velocity transformation

where 0V2 is

7.1. Angular Velocity 7.1. Angular Velocity

7.1.4. Derivative of a Homogenous Transformation Matrix 7.1.3. Velocity Transformation Matrix
• The 4 × 4 homogenous transformation matrix is to move between We can also determine the velocity transformation matrix 0V2 using
two coordinate frames. their addition rule 0V2 = 0V1 + 01V2

• Its derivative is
where

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7.1. Angular Velocity 7.1. Angular Velocity

7.1.4. Derivative of a Homogenous Transformation Matrix 7.1.3. Velocity Transformation Matrix
• The time derivative of the transformation matrix can be arranged to
be proportional to the transformation matrix itself
0v would be
M2

where GVB is a 4×4 homogenous matrix called velocity transformation

matrix or velocity operator matrix which is equal to

7.2. Velocity Kinematics 7.1. Angular Velocity

7.2.1. Rigid Link Velocity 7.1.4. Derivative of a Homogenous Transformation Matrix
• The angular velocity of link (i) in the global coordinate frame B0 is a
• The homogenous transformation matrix i for two links connected
summation of global angular velocities of the links (j), for j ≤ i.
by a revolute joint is
i−1𝑇̇

• The velocity of the origin of Bi-frame attached to link (i) in the base • For two links connected by a prismatic joint is
coordinate frame is

where θ and d are DH parameters, and i−01di is the origin position

vector of the Bi-frame with respect to Bi−1-frame, expressed in the base
B0-frame.
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Introduction to Robotics 28 C7. Derivative Kinematics Introduction to Robotics 26 C7. Derivative Kinematics

7.2. Velocity Kinematics 7.2. Velocity Kinematics

7.2.1. Rigid Link Velocity 7.2.1. Rigid Link Velocity
• Having the time rate of joint variables and calculating the Cartesian
• If a robot has n links, the global angular velocity of the final velocity of end-effector in the global coordinate frame is the forward
coordinate frame is velocity kinematics.
• Determination of the time rate of joint variables based on velocity of
end-effector is the inverse velocity kinematics.

• The global velocity vector of the last link’s coordinate frame is

7.2. Velocity Kinematics 7.2. Velocity Kinematics

7.2.2. Forward Velocity Kinematics 7.2.2. Forward Velocity Kinematics
Ex: Jacobian matrix for a planar polar manipulator. How can we • The forward velocity kinematics of a robot is to solve the problem of
calculate velocity kinematics of a 2 DOF manipulator? relating joint speeds, 𝒒,̇ to the end-effector speeds 𝑿.̇

vector indicating translational and rotational speeds of the end-

• The end-effector speed vector 𝑿,̇ in the most general case, is a 6×1

effector.

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 32 C7. Derivative Kinematics Introduction to Robotics 30 C7. Derivative Kinematics

7.2. Velocity Kinematics 7.2. Velocity Kinematics

7.2.2. Forward Velocity Kinematics 7.2.2. Forward Velocity Kinematics
• A planar polar manipulator with the following forward kinematics as
follows
• The elements of end-effector speed vector 𝑿̇ are linearly proportional
to the elements of joint speed vector, 𝒒,̇

where the 6×n proportionality matrix J(q) is called the Jacobian matrix
of the robot.

• The global expression of velocity 0vn of the origin of Bn-frame is

proportional to the manipulator joint speeds 𝒒̇ D.

7.2. Velocity Kinematics 7.2. Velocity Kinematics

7.2.3. Inverse Velocity Kinematics 7.2.2. Forward Velocity Kinematics
• The inverse velocity kinematics problem, also known as the resolved • The tip point of the manipulator is at [X Y]T,
rates problem, is searching for the joint speeds vector 𝒒̇ associated to

• Its velocity is
known end-effector speeds vector 𝑿.̇

• If the Jacobian matrix is non-singular at the moment of calculation,

the inverse Jacobian J−1 exists and we are able to find the required • Which show that
joint speeds vector by J−1.

• Singular configuration is where the determinant of the Jacobian

matrix is zero and, therefore, J−1 is indeterminate.
HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 36 C7. Derivative Kinematics Introduction to Robotics 34 C7. Derivative Kinematics

7.2. Velocity Kinematics 7.2. Velocity Kinematics

7.2.3. Inverse Velocity Kinematics 7.2.2. Forward Velocity Kinematics
• The rotation matrix 0R2 indicates that:
Ex: Inverse velocity of a planar polar manipulator.

7.3. Acceleration Kinematics 7.2. Velocity Kinematics

7.3.1. Angular Acceleration Vector and Matrix 7.2.3. Inverse Velocity Kinematics
• Acceleration kinematics of robots is divided into forward and inverse
acceleration kinematics. • A planar polar manipulator with the following forward velocity
equation as follows
• They will have rotational and translational accelerations. Angular
acceleration of a rigid body with respect to a global frame is the time
derivative of instantaneous angular velocity of the body.

• To determine the inverse velocity, we need to determine the inverse

of the Jacobian matrix J

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 40 C7. Derivative Kinematics Introduction to Robotics 38 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.2. Velocity Kinematics

7.3.1. Angular Acceleration Vector and Matrix 7.2.3. Inverse Velocity Kinematics
• The velocity vector of a fixed point in the body frame is

• This equation can be utilized to find the acceleration vector of a body

point at Gr(t)

• This J−1 is indeterminate only if r = 0. Therefore, the joint speeds

for a given velocity of the end-effector will be

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.1. Angular Acceleration Vector and Matrix 7.3.1. Angular Acceleration Vector and Matrix
where, Ex: A point mass attached to a massless rod and hanging from a
revolute joint is called a simple pendulum. Find velocity and
acceleration of a simple pendulum?

Its velocity is,

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 44 C7. Derivative Kinematics Introduction to Robotics 42 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.1. Angular Acceleration Vector and Matrix 7.3.1. Angular Acceleration Vector and Matrix
where, The position vector of the bob and the angular velocity vector GωB are

Its velocity is,

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.2. Rigid Body Acceleration 7.3.1. Angular Acceleration Vector and Matrix

The acceleration of the bob is then equal to,

• The acceleration of point P in G is

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 48 C7. Derivative Kinematics Introduction to Robotics 46 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.3. Forward Acceleration Kinematics 7.3.2. Rigid Body Acceleration
• The forward acceleration kinematics problem is the method of • Consider a rigid body with an attached local coordinate frame B
(oxyz) moving freely in a fixed global coordinate frame G (OXYZ),
• The rigid body can rotate in the global frame, while the origin of
relating the end-effector accelerations to 𝑿̈ the joint accelerations,

the body frame B can translate relative to the origin of G.

𝒒.̈

• The coordinates of a
body point P in local
where, [J] is the Jacobian matrix, [𝐉]̇ is time derivative of Jacobian

and global frames, as

matrix, q is the joint variable vector, 𝒒̇ is the joint velocity vector,

follows
and 𝒒̈ is the joint acceleration vector.

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.3. Forward Acceleration Kinematics 7.3.3. Forward Acceleration Kinematics

acceleration vectors
• 𝑿̇ and 𝑿̈ are the end-effector configuration velocity and

• The acceleration vectors of the end-effector frame are

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 52 C7. Derivative Kinematics Introduction to Robotics 50 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.3. Forward Acceleration Kinematics 7.3.3. Forward Acceleration Kinematics

• Forward acceleration of the 2R planar manipulator. An example to

• To calculate the time derivative of the Jacobian matrix [𝐉]̇

• The forward velocity of the 2R planar manipulator is found as

show how [𝐉]̇ will be calculated?

• The differential of the Jacobian matrix is

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.4. Inverse Acceleration Kinematics 7.3.3. Forward Acceleration Kinematics
• The inverse kinematics acceleration is to calculate the joint
where,
inverse acceleration kinematics will be solved from the forward
acceleration vector 𝒒̈ for a given end-effector acceleration 𝑿̈ . The

acceleration kinematics equation.

• Assuming that the Jacobian matrix, J, is square and non-singular,

the joint acceleration vector 𝒒̈ can be found by matrix inversion.

• Calculating the joint acceleration vector 𝒒̈ is a matrix operation,

already calculated in position and velocity kinematics analysis.

realizing that all vector and matrices of X, 𝑿̇ , 𝑿̈ , q, 𝒒,̇ [J], [𝐉]̇ are

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 56 C7. Derivative Kinematics Introduction to Robotics 54 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.4. Inverse Acceleration Kinematics 7.3.3. Forward Acceleration Kinematics
Ex: Inverse acceleration of a polar planar manipulator. The polar
• The forward acceleration kinematics of the manipulator can be
manipulator is also a planar manipulator, which is the main arm of
rearranged
many industrial robots. Find its inverse acceleration kinematics?

• The acceleration of the 2R manipulator show in the following

form:

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.4. Inverse Acceleration Kinematics 7.3.4. Inverse Acceleration Kinematics
• The forward acceleration of the manipulator is • A planar polar manipulator with the following forward velocity
kinematics is:

and [J] is the displacement Jacobian matrix of the manipulator.

• The 𝑋̇ , and 𝑌̇ are components of the global velocity of the tip point
• To determine 𝒒,̈ we solve for [𝑟̈ 𝜃]̈ T .

HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien HCMUTE, Faculty of Mechanical Engineering, Dept. of Mechatronics © Dr. Tran Minh Thien

Introduction to Robotics 60 C7. Derivative Kinematics Introduction to Robotics 58 C7. Derivative Kinematics

7.3. Acceleration Kinematics 7.3. Acceleration Kinematics

7.3.4. Inverse Acceleration Kinematics 7.3.4. Inverse Acceleration Kinematics
• The inverse of Jacobian is • To determine the acceleration of the end-effector

• The time derivative of Jacobian is

• The inverse acceleration of the manipulator would be

C7. End!

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