Kinematik Robot

Kinematika Manipulator Robot
Tugino, ST MT
tugino@sttnas.ac.id
Jurusan Teknik Elektro STTNAS
Yogyakarta
1
Pendahuluan
Robot Manipulators
Konfigurasi Robot
S
Spesifikasi
ifik i R
Robot
b t
Jumlah Axis, DOF(Degree Of Freedom)

Precision, Repeatability
Kinematics
Preliminary
Direct kinematics
World frame, joint frame, end-effector frame

Rotation Matrix, composite rotation matrix
Homogeneous Matrix
Denavit-Hartenberg Representation
Examples
Inverse kinematics
Tugino, ST MT
Sekolah Tinggi Teknologi Nasional Yogyakarta
Manipulators
Lengan Robot , Robot industri
Rigid bodies (links) connected
by joints
Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted on
a flange or plate secured to
the wrist jjoint of robot
Tugino, ST MT
Manipulators
R(revolute) or P( prismatic)
Robot Configuration:
Cartesian: PPP
Cylindrical: RPP
Spherical: RRP
Hand coordinate:
SCARA: RRP
Articulated: RRR
Tugino, ST MT
n: normal vector; s: sliding vector;
a: approach vector, normal to the

(Selective Compliance
Sekolah Tinggi
Teknologi
4
Assembly
Robot
Arm)Nasional Yogyakarta
tool mounting plate
Robots Cartesian
Cartesian robot
Arm moves in 3 linear
axes. X,y,z axes
x
y
Tugino, ST MT
Tugino, ST MT
Manipulators
Motion Control Methods
P i t tto point
Point
i t control
t l
a sequence of discrete points

spot welding, pick-and-place, loading & unloading
Continuous path control
Tugino, ST MT
follow a prescribed path, controlled-path motion

Spray painting,
painting Arc welding,
welding Gluing
Manipulators
Robot Specifications
Number of Axes
Major axes, (1-3) => Position the
wrist
Minor axes, (4-6) => Orient the
tool
Redundant, (7-n) => reaching
around obstacles, avoiding
undesirable configuration
Degree of Freedom (DOF)
Workspace
Which one is more important?
Payload (load capacity)
MTPrecision v.s. Repeatability
8
Tugino, ST
Kinematik
Forward kinematics
x0 = l cos
y0
y1
x1
y0 = l sin
Inverse kinematics
= cos ( x0 / l )
1
x0
Tugino, ST MT
Tugino, ST MT
10
Tugino, ST MT
11
A Simple Example
Revolute and
Prismatic Joints
Combined
Finding :
y
= arctan( )
x
More Specifically:
(x , y)
y
= arctan 2( )
x
arctan2() specifies that its in the

first quadrant
1
X
Tugino, ST MT
Finding S:
S = (x 2 + y 2 )
12
Inverse Kinematics of a Two Link Manipulator

(x , y)
Given: l1, l2 , x , y
Find:
Redundancy:
l2
A unique solution to this problem

does not exist. Notice, that using the
givens two solutions are possible.
Sometimes no solution is possible.
l1
1, 2
(x , y)
Tugino, ST MT
13
Preliminary
Robot Reference Frames
World
W
ld fframe
Joint frame
Tool frame
z
z
y
x
y
W
Tugino, ST MT
R
x
14
Preliminary
Coordinate Transformation
Reference coordinate frame
OXYZ
Body-attached frame Ouvw
Point represented in OXYZ:
Pxyz = [ p x , p y , p z ]T
r
Pxyz = p x i x + p y jy + p z k z
w
v
Point represented in Ouvw:
r
Puvw = pu i u + pv jv + pwk w
O, O
pu = p x pv = p y pw = p z
Two frames coincide ==>
Tugino, ST MT
15
Preliminary
Properties: Dot Product
3
Let x and y be arbitrary vectors in R and be
the angle from x to y , then
x y = x y cos
Properties of orthonormal coordinate frame

Mutually perpendicular
v v
i j =0
v v
i k = 0
v v
k j =0
Tugino, ST MT
Unit vectors
v
i
| |= 1
v
| j |= 1
v
| k |= 1
16
Preliminary
Coordinate Transformation
Rotation only
r
Pxyz = p x i x + p y jy + p z k z
r
Puvw = pu i u + pv jv + pwk w
P
y
w
v
u
Pxyz = RPuvw
How to relate the coordinate in these two frames?

Tugino, ST MT
17
Preliminary
Basic Rotation
p x , p y,
and p zrepresent the projections of

onto OX, OY, OZ axes, respectively
Since
P = pu i u + pv jv + pw k w
p x = i x P = i x i u pu + i x jv pv + i x k w pw
p y = jy P = jy i u pu + jy jv pv + jy k w pw
p z = k z P = k z i u pu + k z jv pv + k z k w pw
Tugino, ST MT
18
p x = i x P = i x i u pu + i x jv pv + i x k w pw
p y = jy P = jy i u pu + jy jv pv + jy k w pw
p z = k z P = k z i u pu + k z jv pv + k z k w pw
px i x i u
p = j i
y y u
p z k z i u
Tugino, ST MT
i x jv
i x k w pu
jy k w pv
k z k w pw
j y jv
k z jv
19
Preliminary
Basic Rotation Matrix
p x i x i u i x jv i x k w pu
p = j i
p
j
j
j
k
y
y
u
y
v
y
w

v
p z k z i u k z jv k z k w pw
Rotation about x-axis with
1 0
Rot ( x, ) = 0 C
0 S
Tugino, ST MT
0
S
C
P v
u
x
y
20
10
Preliminary
Is it True?
Rotation about x axis with
0
p x 1
p = 0 cos
y
p z 0 sin
0 pu
sin pv
cos pw
P v
p x = pu
p y = pv cos pw sin
p z = pv sin + pw cos
Tugino, ST MT
u
x
21
Basic Rotation Matrices
Rotation about x-axis with
Rotation about y-axis with
1 0
Rot ( x, ) = 0 C
0 S
C
Rot ( y, ) = 0
S
R t ti about
Rotation
b t z-axis
i with
ith
Pxyz = RPuvw
Tugino, ST MT
C
Rot ( z , ) = S
0
0
S
C
S
1 0
0 C
0
S
C
0
0
0
1
22
11
Preliminary
Basic Rotation Matrix
ix iu
R = jy i u
k z i u
i x jv
j y jv
k z jv
ix k w
jy k w
k z k w
Obtain the coordinate of
Pxyz
Pxyz = RPuvw
from the coordinate of
Puvw
Dot products are commutative!
pu i u i x i u jy i u k z px

p = j i
v v x jv jy jv k z p y
pw k w i x k w jy k w k z pz
QR = R T R = R 1 R = I 3
Puvw = QPxyz
Q = R 1 = RT
<== 3X3 identity matrix
Tugino, ST MT
23
Example 2
A point auvw = (4,3,2) is attached to a rotating frame, the frame
rotates 60 degree about the OZ axis of the reference frame.

Find the coordinates of the point relative to the reference
frame after the rotation.
a xyz = Rot ( z ,60)auvw

0.5 0.866 0 4 0.598
0.5
0 3 = 4.964
= 0.866
0
0
1 2 2
Tugino, ST MT
24
12
Example 3
A point a xyz = (4,3,2)is the coordinate w.r.t. the
reference coordinate system, find the corresponding

point auvw w.r.t. the rotated OU
OU-V-W
V W coordinate
system if it has been rotated 60 degree about OZ
axis.
auvw = Rot ( z ,60)T a xyz

0.866 0 4 4.598
0.5
= 0.866 0.5 0 3 = 1.964
0
0
1 2 2
Tugino, ST MT
25
Composite Rotation Matrix

A sequence of finite rotations
matrix multiplications
p
do not commute
rules:
Tugino, ST MT
if rotating coordinate O-U-V-W is rotating about

principal axis of OXYZ frame, then Pre-multiply the
previous (resultant) rotation matrix with an
appropriate basic rotation matrix
if rotating coordinate OUVW is rotating about its
own principal axes, then post-multiply the previous
(resultant) rotation matrix with an appropriate basic
rotation matrix
26
13
Example 4
Find the rotation matrix for the following
operations:
Rotation about OY axis
R = Rot ( y, ) I 3 Rot ( w, ) Rot (u, )

C
Rotation about OW axis = 0
Rotation about OU axis - S
0 S C
1 0 S
0 C 0
CC
= S
SC
Answer...
0 1 0
0 0 C
1 0 S
C
0
SS CSC
CC
SSC + CS
0
S
C
CSS + SC
CS
CC SSS
Pre-multiply if rotate about the OXYZ axes

Post-multiply if rotate about the OUVW axes
Tugino, ST MT
27
Example 5
Translation along Z-axis with h:
1
0
Trans ( z, h) =
0
0
1
0
0
0
0
1
0
0
0
h
x 1
y 0
=
z 0

1 0
0 0 0 pu pu
1 0 0 pv pv
=
0 1 h pw pw + h

0 0 1 1 1
P
w
v
Tugino, ST MT
O, O
O, O
x
28
14
Example 6
Rotation about the X-axis by
1 0
0 C
Rot ( x, ) =
0 S
0 0
0
0
0
0
S
C
0
0
x 1 0
y 0 C S
=
z 0 S C

0
1 0 0
0 pu
0 pv
0 pw

1 1
P v
u
Tugino, ST MT
29
Homogeneous Transformation
Composite Homogeneous Transformation
Matrix
Rules:
Transformation (rotation/translation) w.r.t

(X,Y,Z) (OLD FRAME), using premultiplication
Transformation (rotation/translation) w
w.r.t
rt
(U,V,W) (NEW FRAME), using postmultiplication
Tugino, ST MT
30
15
Example 7
Find the homogeneous transformation matrix (T) for
the following operation:
Rotation about OX axis

Translation of a along OX axis
Translation of d along OZ axis
Rotation of about OZ axis
Answer :
T = Tz , Tz ,d Tx,aTx, I 44
C
S
=
0
S
C
0
0
0 0 1
0 0 0
1 0 0
0 1 0
0
1
0
0
0
0
1
0
0 1
0 0
d 0
1 0
0
1
0
0
0
0
1
0
a 1 0
0 0 C
0 0 S
1 0 0
0
S
C
0
0
0
0
Tugino, ST MT
31
Homogeneous Representation
A frame in space (Geometric
P( px , p y , p z )
Interpretation)
R
F = 33
0
P31
1
nx
n
F= y
nz
sx
sy
ax
ay
sz
0
az
0
a (z)
s(y)
px
p y
pz
n (X)
y
Principal axis n w.r.t. the reference coordinate system

Tugino, ST MT
32
16
Translation
a
s
1
0
Fnew =
0
0
nx
n
= y
nz
0 0 d x nx s x
1 0 d y n y s y
0 1 d z nz s z

0 0 1 0 0
sx ax px + d x
s y a y p y + d y
sz az pz + d z
0 0
1
ax
ay
az
0
px
p y
pz
a
s
n
y
Fnew = Trans (d x , d y , d z ) Fold

Tugino, ST MT
33
Orientation Representation
Euler Angles Representation ( , , )
Many different types

Description of Euler angle representations
Euler Angle I
Euler Angle II
Roll-Pitch-Yaw
Sequence
about OZ axis
about OZ axis
about OX axis
of
about OU axis
about OV axis
about OY axis
Rotations about OW axis
Tugino, ST MT
about OW axis
about OZ axis
34
17
Euler Angle I
cos
Rz = sin
0
Rw''
cos
= sin
0
sin
cos
0
sin
cos
0
Tugino, ST MT
0
0
1
0 , Ru ' = 0 cos
0 sin
1
0
1
sin ,
cos
35
Euler Angle I
Resultant eulerian rotation matrix:
R = Rz Ru ' Rw''
cos cos
sin sin cos
sin cos
+ cos sin cos
sin sin
Tugino, ST MT
cos sin
sin cos cos
sin sin
+ cos cos cos
cos sin
sin sin
cos sin
cos
36
18
Euler Angle II, Animated

w'= z
w"'= w"
v"'
v' =v"
y
u"'
"'
Note the opposite

(clockwise) sense of the
third rotation, .
u'
u"
x
Tugino, ST MT
37
Euler Angle I, Animated

w'= z
w'"= w"
v'"
v"
v'
y
u'"
u' =u"
x
Tugino, ST MT
38
19
Matrix with Euler Angle II
i sin
i
sin
+ cos cos cos
cos sin
+ sin cos cos
cos sin
sin
i cos
sin cos cos
cos cos
sin cos cos
sin sin
cos sin
sin sin
cos
Quiz: How to get this matrix ?

Tugino, ST MT
39
Description of Roll Pitch Yaw
Z
X
Quiz: How to get rotation matrix ?
Tugino, ST MT
40
20
Terimakasih
z
z
x
z
y
x
y
x
Tugino, ST MT
41
Coordinate Transformations
position vector of P
in {B} is transformed
to position vector of P
in {A}
description of {B} as
seen from an observer
in {A}
Rotation of {B} with respect to {A}

Translation of the origin of {B} with respect to origin of {A}
Tugino, ST MT
42
21
Coordinate Transformations
Two Special Cases
r = ARB B r P + Ar o '
A P
1 Translation
1.
T
l ti only
l
Axes of {B} and {A} are
parallel
A
RB = 1
y
2. Rotation only
Origins of {B} and {A}
are coincident
r =0
A o'
Tugino, ST MT
43
Homogeneous Representation
Coordinate transformation from {B} to {A}
A P A
r = RB B r P + Ar o '
A r P A RB
=
1 013
r Br P
1 1
A o'
Homogeneous
g
transformation matrix
A RB
TB =
013
Tugino, ST MT
r R33
=
1 0
A o'
P31
1
Scaling
Rotation
matrix
Position
vector
44
22
Special cases
1. Translation
I
TB = 33
013
A o'
2. Rotation
A RB
TB =
013
031
Tugino, ST MT
The Geometric Solution

2
l2
(x , y)
45
Using the Law of Cosines:
c 2 = a 2 + b 2 2ab cos C
2
( x 2 + y 2 ) = l1 + l2 2l1l2 cos(180 2 )
cos(180 2 ) = cos( 2 )
2
l1
cos( 2 ) =
sin B sin C
=
b
c
sin 1 sin(180 2 )
sin( 2 )
=
=
2
2
l2
x +y
x 2 + y2
y
Tugino, ST MT
= arctan
2
x
x 2 + y 2 l12 l2 2
2 = arccos
2
l
l
1 2
Using the Law of Cosines:
1 = 1 +
x 2 + y 2 l1 l2
2l1l2
Redundant since 2 could be in the

first or fourth quadrant.
Redundancy caused since 2 has two possible

values
l sin( )
y
2
+ arctan 2
1 = arcsin 2
x 2 + y2
x46
23
The Algebraic Solution

2
l2
(x , y)
c 1 = cos 1
c 1 + 2 = cos( 2 + 1 )
(1) x = l1 c 1 + l 2 c 1 + 2
l1
(2) y = l1 s 1 + l 2 sin
(1) 2 + (2) 2 = x 2 + y 2 =
1+ 2
(3) = 1 + 2
) (
= l1 c1 + l2 ((c1+ 2 ) 2 + 2l1l2 c1 ((c1+ 2 ) + l1 s1 + l2 ((sin 1+ 2 ) 2 + 2l1l2 s1 ((sin 1+ 2 )
= l1 + l2 + 2l1l2 (c1 (c1+ 2 ) + s1 (sin 1+ 2 ) )

2
= l1 + l2 + 2l1l2 c 2
Only Unknown
Note:
+
cos(a b) = (cosa)(cosb)+ (sina)(sinb)

x 2 + y 2 l1 l2
arccos
2 =Tugino,
+
+
47
ST MT
sin(aYogyakarta
2l1l2 SekolahTinggi Teknologi Nasional
b) = (cosa)(sinb) (cosb)(sina)
Note:
x = l1 c 1 + l 2 c 1 + 2
cos(a+b) = (cosa)(cosb)+ (sina)(sinb)
= l1 c 1 + l 2 c 1 c 2 l 2 s 1 s 2
= c 1 ( l1 + l 2 c 2 ) s 1 ( l 2 s 2 )
y = l1 s 1 + l 2 sin
1+ 2
= l1 s 1 + l 2 s 1 c 2 + l 2 s 2 c 1
= c 1 ( l 2 s 2 ) + s 1 ( l1 + l 2 c 2 )
c1 =
y=
=
s1 =
x + s1 ( l 2 s 2 )
( l1 + l 2 c 2 )
x + s1 ( l 2 s 2 )
( l 2 s 2 ) + s 1 ( l1 + l 2 c 2 )
( l1 + l 2 c 2 )
sin(a+b) = (cosa)(sinb)+ (cosb)(sina)
We know what 2 is from the previous

slide. We need to solve for 1 . Now
we have two equations and two
unknowns (sin 1 and cos 1 )
Substituting for c1 and simplifying

many times
1
x l 2 s 2 + s 1 ( l1 2 + l 2 2 + 2 l1 l 2 c 2 )
( l1 + l 2 c 2 )
y ( l1 + l 2 c 2 ) x l 2 s 2
2
x + y
Tugino, ST MT
Notice this is the law of cosines

and can be replaced by x2+ y2
y ( l1 + l 2 c 2 ) x l 2 s 2
1 = arcsin
x2+ y2
48
24
Composite Homogeneous Transformation Matrix
z1
z2
y2
z0
y1
A1
y0
A2
x1
x0
?
i 1
x2
1
A2 = 0A1 1 A2
Ai
Transformation matrix for

adjacent coordinate frames
Chain product of successive

coordinate transformation matrices
Tugino, ST MT
49
Example 8
For the figure shown below, find the 4x4 homogeneous transformation matrices
and
0 5
fori 1i=1,
A
A 2, 3, 4,
i
nx
n
F = y
nz
z3
b
y3
z5
x3
d
x5
y5
z4
x4
z2
y4
x2
z1
z0
x0
x1
y2
sx
ax
sy ay
sz
0
az
0
0
1 0 0
px
p y 0 A = 0 0 1 e + c
1
0 1 0 a d
pz
1
0 0 0
1
b
0 1 0
0 0 1 a d
1
A2 =
1 0 0
0
1
0 0 0
0
1
0
y0
=
A
Can you find the answer by observation
2
0
based on the geometric interpretation of
Sekolah Tinggi Teknologi

Nasional Yogyakarta
Tugino, ST MT
homogeneous transformation
matrix?
0
y1
b
0 0 e + c
0 1
0
0 0
1 50
1 0
25
R
F = 33
0
P31
1
Rotation matrix representation needs 9 elements to
completely describe the orientation of a rotating rigid

body.
Any easy way?
Euler Angles Representation
Tugino, ST MT
51
26

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Kinematika Manipulator Robot

Jumlah Axis, DOF(Degree Of Freedom)

World frame, joint frame, end-effector frame

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

n: normal vector; s: sliding vector;

a: approach vector, normal to the

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

a sequence of discrete points

Continuous path control

follow a prescribed path, controlled-path motion

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

arctan2() specifies that its in the

Inverse Kinematics of a Two Link Manipulator

A unique solution to this problem

Sekolah Tinggi Teknologi Nasional Yogyakarta

Point represented in OXYZ:

Point represented in Ouvw:

Two frames coincide ==>

Sekolah Tinggi Teknologi Nasional Yogyakarta

Properties of orthonormal coordinate frame

How to relate the coordinate in these two frames?

and p zrepresent the projections of

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

Rotation about x axis with

Sekolah Tinggi Teknologi Nasional Yogyakarta

Basic Rotation Matrices

Rotation about x-axis with

Rotation about y-axis with

Obtain the coordinate of

from the coordinate of

Dot products are commutative!

<== 3X3 identity matrix

Sekolah Tinggi Teknologi Nasional Yogyakarta

rotates 60 degree about the OZ axis of the reference frame.

a xyz = Rot ( z ,60)auvw

Sekolah Tinggi Teknologi Nasional Yogyakarta

reference coordinate system, find the corresponding

auvw = Rot ( z ,60)T a xyz

Sekolah Tinggi Teknologi Nasional Yogyakarta

Composite Rotation Matrix

if rotating coordinate O-U-V-W is rotating about

R = Rot ( y, ) I 3 Rot ( w, ) Rot (u, )

Rotation about OW axis = 0

Rotation about OU axis - S

Pre-multiply if rotate about the OXYZ axes

Sekolah Tinggi Teknologi Nasional Yogyakarta

Sekolah Tinggi Teknologi Nasional Yogyakarta

Transformation (rotation/translation) w.r.t

Sekolah Tinggi Teknologi Nasional Yogyakarta

the following operation:

Rotation about OX axis

Sekolah Tinggi Teknologi Nasional Yogyakarta

Principal axis n w.r.t. the reference coordinate system

Sekolah Tinggi Teknologi Nasional Yogyakarta

Fnew = Trans (d x , d y , d z ) Fold

Many different types

Rotations about OW axis