MINGGU XIV (TULEN)

ROBOTIKA II
ROBOT ARMS AND KINEMATICS

Denavit-Hartenberg
Notation
INTRODUCTION

Forward Kinematics:
to determine where the robot’s hand is?
(If all joint variables are known)

Inverse Kinematics:
to calculate what each joint variable is?
(If we desire that the hand be
located at a particular point)
 Direct
Kinematics
Direct Kinematics with no
matrices

Where is my hand?

Direct Kinematics:
HERE!
 Direct Kinematics
• Position of tip in (x,y) coordinates
 Direct Kinematics Algorithm
Often
1) Draw sketch sufficient for
2) Number links. Base=0, Last link = n 2D
3) Identify and number robot joints
4) Draw axis Zi for joint i
5) Determine joint length ai-1 between Zi-1 and Zi
6) Draw axis Xi-1
7) Determine joint twist i-1 measured around Xi-1
8) Determine the joint offset di
9) Determine joint angle i around Zi
 ROBOTS AS
MECHANISMs
 Robot Kinematics:
ROBOTS AS MECHANISM
Multiple type robot have multiple DOF.
(3 Dimensional, open loop, chain mechanisms)

Fig. 2.1 A one-degree-of-freedom Fig. 2.2 (a) Closed-loop versus (b)

closed-loop four-bar mechanism open-loop mechanism
Representation Chapter 2
of a Point in
RobotSpace
Kinematics: Position Analysis

A point P in space :
3 coordinates relative to a reference frame

^ ^ ^
P  a x i  by j  c z k

Fig. 2.3 Representation of a point in space

Representation of
Chapter 2
a Vector in
Robot Space
Kinematics: Position Analysis

A Vector P in space :
3 coordinates of its tail and of its head

__ ^ ^ ^
P  a x i  by j  c z k
 x
__  y
P 
z
 
 w
Fig. 2.4 Representation of a vector in space
Representation of a Frame at the
Chapter 2
Origin of aRobot
Fixed-Reference
Kinematics: Position Analysis Frame

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

 nx ox a x 
F  n y o y a y 
 nz oz a z 

Fig. 2.5 Representation of a frame at the origin of the

reference frame
Representation of
Chapter 2
a Frame in a
Fixed Reference
Robot Kinematics: PositionFrame
Analysis

Each Unit Vector is mutually perpendicular. :

normal, orientation, approach vector

The
same as
last slide

 nx ox ax Px 
n oy ay Py 
F  y

 nz oz az Pz 
 
0 0 0 1

Fig. 2.6 Representation of a

frame in a frame
Representation of a 2Rigid Body
Chapter
Robot Kinematics: Position Analysis

An object can be represented in space by attaching a frame

to it and representing the frame in space.

 nx ox ax Px 
n oy ay Py 
Fobject   y

 nz oz az Pz 
 
0 0 0 1

Fig. 2.8 Representation of an

object in space
 HOMOGENEOUS
Chapter 2
TRANSFORMATION MATRICES
Robot Kinematics: Position Analysis

A transformation matrices must be in square form.

• It is much easier to calculate the inverse of square
matrices.

• To multiply two matrices, their dimensions must match.

 nx ox ax Px 
n oy ay Py 
F  y

 nz oz az Pz 
 
0 0 0 1
Representation of
Transformations of
rigid objects
in 3D space
 RepresentationChapter 2
of a Pure
Translation
Robot Kinematics: Position Analysis

A transformation is defined as making a movement in space.

• A pure translation.
• A pure rotation about an axis.
• A combination of translation or rotations.

Same
value a
identity

1 0 0 dx 
0 1 0 d y 
T 
0 0 1 dz 
 
0 0 0 1
Fig. 2.9 Representation of an pure
translation in space
 Representation Chapter 2
of a Pure
Rotation about
Robot Kinematics: anAnalysis
Position Axis
x,y,z  n, o, a

Assumption : The frame is at the origin of the reference frame and parallel to it.

Projections as
seen from x axis

Fig. 2.10 Coordinates of a point in a

rotating frame before and after Fig. 2.11 Coordinates of a point relative to the
rotation around axis x. reference frame and rotating frame as viewed from
the x-axis.
 Representation of Combined
Transformations
A number of successive translations and
rotations….
ai T1
Fig. 2.13 Effects of three successive
oi transformations
ni

T2

T3
x,y,z  n, o, a

Order is
important
 x,y,z  n, o, a
translation

Order of
Transformations
is important

Fig. 2.14 Changing the order of

transformations will change the final result
Transformations Chapter 2
Relative to
the Rotating Frame
Robot Kinematics: Position Analysis

Example 2.8
translation

rotation

Fig. 2.15 Transformations relative to the current frames.

MATRICES FOR
FORWARD AND
INVERSE
KINEMATICS OF
ROBOTS
• For position
• For orientation
FORWARD AND INVERSE KINEMATICS OF
Chapter 2
ROBOTS
Robot Kinematics: Position Analysis
Forward Kinematics Analysis:
• Calculating the position and orientation of the hand of the robot.

If all robot joint variables are known, one can calculate where the robot is
at any instant.
.

Fig. 2.17 The hand frame of the robot relative to the reference frame.
 Forward and Inverse Kinematics
Equations
Chapter 2
for Position
Robot Kinematics: Position Analysis

Forward Kinematics and Inverse Kinematics equation

for position analysis :

(a) Cartesian (gantry, rectangular) coordinates.

(b) Cylindrical coordinates.
(c) Spherical coordinates.
(d) Articulated (anthropomorphic, or all-revolute)
coordinates.
 Forward and Inverse Kinematics
EquationsChapter for 2 Position
Robot Kinematics: Position Analysis
(a) Cartesian (Gantry, Rectangular)
Coordinates
IBM 7565 robot
• All actuator is linear.
• A gantry robot is a Cartesian robot.

1 0 0 Px 
0 
1 0 Py 
TP  Tcart
R

0 0 1 Pz 
 
0 0 0 1

Fig. 2.18 Cartesian Coordinates.

 Forward and Inverse Kinematics Equations for
Position:
Chapter 2
CylindricalRobot
Coordinates
Kinematics: Position Analysis

2 Linear translations and 1 rotation

• translation of r along the x-axis
• rotation of  about the z-axis
• translation of l along the z-axis
R
TP  Tcyl (r ,  , l )  Trans(0,0, l )Rot( z ,  )Trans( r ,0,0)

cosine
C  S 0 rC 
 S C 0 rS 
R
TP  Tcyl   
 0 0 1 l 
 
 0 0 0 1  sine
Fig. 2.19 Cylindrical Coordinates.
Forward and Inverse Kinematics Equations for
Chapter
Position 2
(c)Kinematics:
Robot Spherical Coordinates
Position Analysis

2 Linear translations and 1 rotation

• translation of r along the z-axis
• rotation of  about the y-axis
• rotation of  along the z-axis

R
TP  Tsph (r ,  , l )  Rot( z ,  )Rot( y ,  )Trans( 0,0,  )

C  C  S S  C rS  C 
 C  S C S  S rS  S 
R
TP  Tsph   
  S 0 C rC 
 
 0 0 0 1 
Fig. 2.20 Spherical Coordinates.
Forward and Inverse Kinematics Equations for
Chapter
Position 2
(d)Kinematics:
Robot Articulated
PositionCoordinates
Analysis

3 rotations -> Denavit-Hartenberg representation

Fig. 2.21 Articulated

Coordinates.
Forward and Inverse
Chapter 2
Kinematics
Equations
Robot Kinematics:for Orientation
Position Analysis

 Roll, Pitch, Yaw (RPY) angles

 Euler angles
 Articulated joints
Forward and Inverse Kinematics Equations for
Chapter
Orientation 2
(a) Roll,
Robot Pitch,
Kinematics: Yaw(RPY)
Position Analysis Angles

Roll: Rotation of a about a-axis (z-axis of the moving frame)

Pitch: Rotation of o about o -axis (y-axis of the moving frame)
Yaw: Rotation of n about n -axis (x-axis of the moving frame)

Fig. 2.22 RPY rotations about the

current axes.
Forward and Inverse Kinematics Equations for
Orientation
Chapter 2
(b) Euler
Robot Kinematics: Angles
Position Analysis

Rotation of  about a-axis (z-axis of the moving frame) followed by

Rotation of  about o -axis (y-axis of the moving frame) followed by
Rotation of  about a-axis (z-axis of the moving frame).

Fig. 2.24 Euler rotations about

the current axes.
Forward and Inverse Kinematics Equations
Chapter 2
for Orientation
Robot Kinematics: Position Analysis

Roll, Pitch, Yaw(RPY) Angles

¨ Assumption : Robot is made of a Cartesian and an RPY set of joints.

R
TH  Tcart ( Px , Py , Pz )  RPY (a , o , n )
¨ Assumption : Robot is made of a Spherical Coordinate and an Euler angle.

R
TH  Tsph (r ,  ,  )  Euler ( ,  , )

Another Combination can be possible……

Denavit-Hartenberg Representation
 Forward and
Inverse
Transformations
for robot arms
 INVERSE OF TRANSFORMATION MATRICES
Steps of calculation of an Inverse matrix:
1. Calculate the determinant of the matrix.
2. Transpose the matrix.
3. Replace each element of the transposed matrix by its own minor
(adjoint matrix).
4. Divide the converted matrix by the determinant.

Fig. 2.16 The Universe, robot, hand, part, and end

effecter frames.
 Identity
Transformations
1. We often need to calculate

INVERSE
MATRICES
2. It is good to reduce the number of
such operations

3. We need to do these calculations fast

How to find an Inverse Matrix B of
matrix A?
Inverse Homogeneous
Transformation
 Homogeneous Coordinates
• Homogeneous coordinates: embed 3D
vectors into 4D by adding a “1”
• More generally, the transformation matrix
T has the form:
 Rot. Matrix Trans. Vector 
T  
 Perspect. Trans. Scaling Factor 
a11 a12 a13 b1
a21 a22 a23 b2
It is presented in more
a31 a32 a33 b3
detail on the WWW!
c1 c2 c3 sf
For various types of robots we have
different maneuvering spaces
For various types of robots we calculate different forward
and inverse transformations
For various types of robots we solve different forward and inverse kinematic problems
 Forward and
Inverse Kinematics:
Single Link Example
Forward and Inverse Kinematics:
Single Link Example

easy
 Denavit –
Hartenberg
idea
 DENAVIT-HARTENBERG REPRESENTATION OF
FORWARD KINEMATIC EQUATIONS OF ROBOT
· Denavit-Hartenberg Representation :

@ Simple way of modeling robot links and

joints for any robot configuration,
regardless of its sequence or complexity.

@ Transformations in any coordinates

is possible.

@ Any possible combinations of joints

and links and all-revolute articulated
robots can be represented.

Fig. 2.25 A D-H representation of a general-purpose joint-link combination

 ·DENAVIT-HARTENBERG REPRESENTATION
Chapter 2
Symbol Terminologies :
Robot Kinematics: Position Analysis

⊙  : A rotation angle between two links, about the z-axis (revolute).

⊙ d : The distance (offset) on the z-axis, between links (prismatic).

⊙ a : The length of each common normal (Joint offset).

⊙  : The “twist” angle between two successive z-axes (Joint twist)
(revolute)

 Only  and d are joint variables.

 associated with
Zi always

Links are in 3D,

any shape
Only rotation Only translation Only offset

Only offset Only rotation Axis alignment

 DENAVIT-
HARTENBERG
REPRESENTATION
for each link
4 link parameters
 ·DENAVIT-HARTENBERG REPRESENTATION
Chapter 2
Symbol Terminologies :
Robot Kinematics: Position Analysis

⊙  : A rotation angle between two links, about the z-axis (revolute).

⊙ d : The distance (offset) on the z-axis, between links (prismatic).

⊙ a : The length of each common normal (Joint offset).

⊙  : The “twist” angle between two successive z-axes (Joint twist)
(revolute)

 Only  and d are joint variables.

 Example with three Y2 Z
2
The DH
Revolute Joints Parameter
Z0 Z1
Table
X2
d2
X0 X1

Y0 Y1 Denavit-Hartenberg Link
Parameter Table
a0 a1
Apply first Apply last

i (i-1) a(i-1) di i

0 0 0 0 0

1 0 a0 0 1

2 -90 a1 d2 2
Denavit-Hartenberg Representation of
Joint-Link-Joint Transformation
Notation for Denavit-Hartenberg
Representation of Joint-Link-Joint
Transformation

Alpha applied
first
 Four Transformations from one Joint to the Next
• Order of multiplication of matrices is inverse of order of applying them
• Here we show order of matrices

Joint-Link-Joint
 Denavit-
Hartenberg
Representation
of Joint-Link-
Joint
Transformation
• Alpha
is
applied
first

How to create
a single matrix
An
 EXAMPLE: Denavit-Hartenberg
Final
matrix Representation of Joint-Link-Joint
from Transformation for Type 1 Link
previous
slide

substitute

substitute

Numeric or
symbolic
matrices
  cosθ i  sinθ i 0 a(i 1) 
The Denavit- sinθ cosα cosθ i cosα (i 1)  sinα (i 1)  sinα (i 1)d i 
 i (i 1)
Hartenberg Matrix for  sinθ i sinα (i 1) cosθ i sinα (i 1) cosα (i 1) cosα (i 1)d i 
 
another link type  0 0 0 1 

• Similarity to Homegeneous: Just like the Homogeneous

Matrix, the Denavit-Hartenberg Matrix is a transformation
matrix from one coordinate frame to the next.
• Using a series of D-H Matrix multiplications and the D-H
Parameter table, the final result is a transformation matrix from
some frame to your initial frame.

Z(i - 1)
Y(i -1) Y Zi
i X a
Put the transformation here X(i -1)
a(i - 1 ) d
i i

for every link
i
( i -
i
1)
1. In DENAVIT-
HARTENBERG
REPRESENTATION we
must be able to find
parameters for each link
2. So we must know link types
Links between
revolute joints
 Type 3 Link

Joint n+1

xn

Link n
ln=0
dn=0

Joint n

xn-1
 n-1

Type 4
Joint n+1
Link
Link n
ln=0
Part of dn-1 dn=0

Joint n
n
xn
xn-1 yn-1 Origins coincide
Links between
prismatic
joints
Forward and Inverse
Transformations on
Matrices
DENAVIT-HARTENBERG
REPRESENTATION
PROCEDURES
Start point:
• Assign joint number n to the first shown joint.
• Assign a local reference frame for each and every
joint before or
after these joints.
• Y-axis is not used in D-H representation.
 DENAVIT-HARTENBERG REPRESENTATION
Procedures for assigning a local reference frame to each joint:

1. ‫ ٭‬All joints are represented by a z-axis.

• (right-hand rule for rotational joint, linear movement for prismatic
joint)

2. The common normal is one line mutually perpendicular to any two

skew lines.

3. Parallel z-axes joints make a infinite number of common normal.

4. Intersecting z-axes of two successive joints make no common

normal between them(Length is 0.).
 ·DENAVIT-HARTENBERG REPRESENTATION
Chapter 2
Symbol Terminologies Reminder:
Robot Kinematics: Position Analysis

⊙  : A rotation about the z-axis.

⊙ d : The distance on the z-axis.
⊙ a : The length of each common normal (Joint offset).
⊙  : The angle between two successive z-axes (Joint
twist)

 Only  and d are joint variables.

·DENAVIT-HARTENBERG
ChapterREPRESENTATION
2
The necessary motions
Robot Kinematics: Positionto transform from
Analysis

one reference frame to the next.

(I) Rotate about the zn-axis an able of n+1. (Coplanar)

(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis
with zn+1-axis.