Alfonso Seceña Blanco

Ruben Musso
Alicia Valdes
Enrique Rangel

Mecatrónica
Octavo Semestre

Introducción a la Robótica

####

30/05/2019
# Θi di ai αi
1 0 d1 0 -90
2 0 d2 0 90
3 0 d3 0 0
4 Θ1 0 0 0

1 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 0 0 −1 0 0 1 0 0
𝑇10 = [ ] 𝑇21 = [ ] 𝑇32 = [ ]
0 −1 0 𝑑1 0 1 0 𝑑2 0 0 1 𝑑3
0 0 0 1 0 0 0 1 0 0 0 1
cos 𝜃1 − sin 𝜃1 0 0
sin 𝜃1 cos 𝜃1 0 0
𝑇43 = [ ]
0 0 1 0
0 0 0 1
Cinemática Directa

 Denavit-Hartenberg
𝑻𝟎𝟒 = 𝑻𝟎𝟏 ∗ 𝑻𝟏𝟐 ∗ 𝑻𝟐𝟑 ∗ 𝑻𝟑𝟒

1 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 0 0 −1 0 0 1 0 𝑑2
𝑇20 = [ ]𝑥[ ]=[ ]
0 −1 0 𝑑1 0 1 0 𝑑2 0 0 1 𝑑1
0 0 0 1 0 0 0 1 0 0 0 1

1 0 0 0 1 0 0 0 1 0 0 0
0 1 0 𝑑2 0 1 0 0 0 1 0 𝑑2
𝑇30 = [ ]𝑥[ ]=[ ]
0 0 1 𝑑1 0 0 1 𝑑3 0 0 1 𝑑3 + 𝑑1
0 0 0 1 0 0 0 1 0 0 0 1

1 0 0 0 1 0 0 0 1 0 0 0
0 1 0 𝑑2 0 1 0 0 0 1 0 𝑑2
𝑇30 = [ ]𝑥[ ]=[ ]
0 0 1 𝑑1 0 0 1 𝑑3 0 0 1 𝑑3 + 𝑑1
0 0 0 1 0 0 0 1 0 0 0 1

1 0 0 0 cos 𝜃1 − sin 𝜃1 0 0 cos 𝜃1 − sin 𝜃1 0 0

0 1 0 𝑑2 sin 𝜃1 cos 𝜃1 0 0 sin 𝜃1 cos 𝜃1 0 𝑑2
𝑇40 = [ ]𝑥[ ]=[ ]
0 0 1 𝑑3 + 𝑑1 0 0 1 0 0 0 1 𝑑3 + 𝑑1
0 0 0 1 0 0 0 1 0 0 0 1

Cinemática Inversa

 Matriz de transformación

1 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 0 0 −1 0 0 1 0 0
𝑇10 = [ ] 𝑇21 = [ ] 𝑇32 = [ ]
0 −1 0 𝑑1 0 1 0 𝑑2 0 0 1 𝑑3
0 0 0 1 0 0 0 1 0 0 0 1
cos 𝜃1 − sin 𝜃1 0 0
sin 𝜃1 cos 𝜃1 0 0
𝑇43 = [ ]
0 0 1 0
0 0 0 1
 1 0 0 0 1 0 0 0 1 0 0 0
0 0 −1 −𝑑1 0 0 1 −𝑑2 0 1 0 0
(𝑇10 )−1 = [ ] (𝑇21 )−1 = [ ] (𝑇32 )−1 = [ ]
0 1 0 0 0 −1 0 0 0 0 1 −𝑑3
0 0 0 1 0 0 0 1 0 0 0 1

cos 𝜃1 − sin 𝜃1 0 0 1 0 0 0
0 0 −1 −𝑑3 0 1 0 −𝑑2
𝑇21 ∗ 𝑇32 ∗ 𝑇43 = [ ] (𝑇21 )−1 ∗ (𝑇10 )−1 = [ ]
sin 𝜃1 cos 𝜃1 0 𝑑2 0 0 1 𝑑1
0 0 0 1 0 0 0 1

cos 𝜃1 − sin 𝜃1 0 0 1 0 0 0
sin 𝜃1 cos 𝜃1 0 0 0 1 0 −𝑑2
𝑇32 ∗ 𝑇43 = [ ] (𝑇32 )−1 ∗ (𝑇21 )−1 ∗ (𝑇10 )−1 = [ ]
0 0 1 𝑑3 0 0 1 𝑑1 − 𝑑3
0 0 0 1 0 0 0 1

𝑇40 = 𝑇10 ∗ 𝑇21 ∗ 𝑇32 ∗ 𝑇43

(𝑇10 )−1 ∗ 𝑇04 = 𝑇21 ∗ 𝑇32 ∗ 𝑇43

1 0 0 0 𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑃𝑥 cos 𝜃1 − sin 𝜃1 0 0
0 0 −1 −𝑑1 𝑛 𝑜𝑦 𝑎 𝑃𝑦 0 0 −1 −𝑑3
[ ]𝑥[ 𝑦 ]=[ ]
0 1 0 0 𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑃𝑧 sin 𝜃1 cos 𝜃1 0 𝑑2
0 0 0 1 0 0 0 1 0 0 0 1
𝑷𝒚 = 𝒅𝟐

(𝑇21 )−1 ∗ (𝑇10 )−1 ∗ 𝑇04 = 𝑇32 ∗ 𝑇43

1 0 0 0 𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑃𝑥 cos 𝜃1 − sin 𝜃1 0 0
0 1 0 −𝑑2 𝑛 𝑜𝑦 𝑎 𝑃𝑦 sin 𝜃1 cos 𝜃1 0 0
[ ]𝑥[ 𝑦 ]=[ ]
0 0 1 𝑑1 𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑃𝑧 0 0 1 𝑑3
0 0 0 1 0 0 0 1 0 0 0 1
𝒅𝟑 = 𝑷𝒛 + 𝒅𝟏
(𝑇32 )−1 ∗ (𝑇21 )−1 ∗ (𝑇10 )−1 ∗ 𝑇04 = 𝑇43
1 0 0 0 𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑃𝑥 cos 𝜃1 − sin 𝜃1 0 0
0 1 0 −𝑑2 𝑛𝑦 𝑜𝑦 𝑎 𝑃𝑦 sin 𝜃1 cos 𝜃1 0 0
[ ]𝑥[ ]=[ ]
0 0 1 𝑑1 − 𝑑3 𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑃𝑧 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
𝒅𝟏 = −𝑷𝒛 + 𝒅𝟑
Jacobiana
cos 𝜃1 − sin 𝜃1 0 0
sin 𝜃1 cos 𝜃1 0 𝑑2
𝑇40 = [ ]
0 0 1 𝑑3 + 𝑑1
0 0 0 1

𝒇𝒙 = 𝟎
𝑓𝑥
=0
𝛿𝑑1
𝑓𝑥
=0
𝛿𝑑2
𝑓𝑥
=0
𝛿𝑑3
𝑓𝑥
=0
𝛿𝜃1
𝒇𝒚 = 𝒅𝟐
𝑓𝑦
=0
𝛿𝑑1
𝑓𝑦
=1
𝛿𝑑2
𝑓𝑦
=0
𝛿𝑑3
𝑓𝑦
=0
𝛿𝜃1
𝒇𝒙 = 𝒅𝟏 + 𝒅𝟑
𝑓𝑧
=1
𝛿𝑑1
𝑓𝑧
=0
𝛿𝑑2
𝑓𝑧
=1
𝛿𝑑3
𝑓𝑥
=0
𝛿𝜃1

0 0 0 0
𝐽 = [0 1 0 0]
1 0 1 0