ME5250 Cheat Sheet

Basic Math Knowledge DH Parameter Jacobians

A subspace of vector space exists, if it follows the Denavit-Hartenberg Parameters First start with General Properties of Jacobian A Jacobian of a
Closed under addition and multiplication, and passes placing z axis, and make sure that direction of zi is joint contains 6 parameters, 3 components of Linear
through (contains) origin. Linear Independence is along the joint axis. xi is choosen in such a way that Velocity, denoting how fast end-effector is moving,
the addition of all scalars is zero, if and only if all the it is the common normal of zi and zi−1 . And yi should and 3 components of Angular Velocity,
  denoting how
scalar are zero. be placed in accordance to right-hand rule. J
fast end-effector is rotating. γ = v q̇
Basis β is the representation of x with respect to ba- Once we’ve placed joint frame, we can move forward Jw
sis e. x = eβ to create DH table. DH table:
Change of Basis Prismatic
   Revolute

i ai αi di θi 0 0
x = eβ = eβ 0 0
Linear Ri−1 0 Ri−1 0 × (d0n − d0i−1 )
e = eP Where, ai : the length of common normal.
x = eP β = eβ di : the distance between the origin Oi−1 and the  1 1  
β = Pβ 0 0
point Hi . Rotational 0 0
αi : the angle between the joint axis i and the zi axis 0 1
Spatial Description and Transformation in the right hand sense.
θi : the angle between the xi−1 axis and the common In case
 ofallPrismatic
  joints:
Position and Orientation of a rigid body: R =  
n t b . n, t and b are mutually orthogonal. normal Hi Oi measured about zi−1 axis in the right 0 0 0
hand sense. Ro0 0 R10 0 R20 0
A point P, is represented by x and xb , which can be J = 
further written as x = xo + un + vt + wb. Which  1 1 1 
further gives x = xo + Rxb . R is rotation matrix, and 0 0 0
R−1 = R T Here the (i) is the number of joints and d0i is the the
 andhomogeneoustransform is given
R xo −1 RT −RT xo last column of Transformation matrix.
by A = . And, A = Also, In case
0 1 0 1  ofallRevolute joints:   
A10 is 0 with respect to 1. And A30 = A10 A21 A32 . 0 0
Rotations: There are two types of rotation, X-Y-Z R00 0 × (d02 − d00 ) R10 0 × (d02 − d01 )
 
fixed angle and X-Y-Z euler angle rotation. In fi-  1   1   
J =  
xed angle, order of multiplication is reversed, where  0 0 

0 1
as maintained in case of euler angle. γ → x, β →  R0 0 R0 0 
−r31 1 1
y and α → z. Where, β = tan−1 p 2 2
, α =
r11 + r21 In case of mixture of prismatic and revolute joint, we
r21 r11 r32 r33 can solve accordingly to the above given formulas.
arctan( , ) and γ = arctan( , )
cos β cos β cos β cos β
x(θ1,θ2)
 y(θ1,θ2)
Forward Kinematics dx dx
Inverse Kinematics  dθ1
The kinematic closed chain of a link having 3 joints J =  dy dθ2
Usually, we are given a kinematic model of a link TW B dy 
can be denoted by A03 , where A30 = A01 A12 A23 Where, dθ1 dθ2
and we need to compute angles (θ1 , θ2 , θ3 ) by dividing
Aii−1 is given by:
the equations. dx = J.dθ Differentiating the given expression with
 
cos θi − sin θi cos αi sin θi sin αi ai cos θi respect to time will give us linear velocity and further
 sin θi cos θi cos αi − cos θi sin αi ai sin θi  will give us angular velocity.
Torque and force relation: T = J T .F
 
 0 sin αi cos αi di 
0 0 0 1