Faculty of Engineering & Materials Science (EMS)

Mechatronics Engineering Department

Robotics Programming (MCTR 911)

Tutorial (03)
Forward Kinematics (DH-Convention)
Presented by:
Assoc. Prof. Dr. Eng. Omar M. Shehata, Eng. Dalia Mamdouh

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 1
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

Outlines
• Joint Space Vs. Task Space
• Forward Kinematics of Robotic Manipulators
– DH-Convention
• DH-Convention Steps
– Assign DH-Axes
– Fill DH-Parameters Table
– Get DH Transformation Matrices
– Obtain Total Transformation Matrix
• Examples
• Next time .. ☺

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 2
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Joint Space Vs. Task Space:
Space
Joint Space
- It is defined by a vector whose
components are translational and
angular displacements of each
joint of a robotic link that End Effector
𝑥
resembles the degrees of
𝑦
freedom of the robot and can be 𝑧
defined by a vector named q. 𝑋 = 𝜃𝑥
Joint 𝑞1 𝜃𝑦
Task Space 𝑞2
𝑞= ⋮ 𝜃𝑧
- It is defined by the position and
𝑞𝑛
orientation of the end effector
of the robot and can be defined
by a vector named X.
Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 3
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Joint Space Vs. Task Space:
Space
Joint Types:
1. Revolute Joints
2. Prismatic Joints

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 4
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Forward Kinematics of Robotic Manipulators:
Space • For any robotic manipulator, there exist a relation between the joints space and
-Forward Kinematics task space. This relation is represents the Forward Kinematics of the robot.
of Robotic
Manipulators
• The forward kinematics problem is to determine the position and orientation of the
end-effector, given the values for the joint variables of the robot.

Forward Kinematics

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 5
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Forward Kinematics of Robotic Manipulators:
Space
DH-Convention:
-Forward Kinematics
of Robotic
Manipulators • A commonly used convention for solving the Forward Kinematics problem for serial
-DH-Convention manipulators is the Denavit-Hartenberg, or DH-Convention.
• In order to obtain the forward kinematics of the robot using DH- Convention, series
of steps should be applied:

1. Assign DH Axes.
2. Fill DH Parameters Table.
3. Get DH Transformation Matrices.
4. Obtain End Effector (Total) Transformation Matrix

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 6
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (Assign Axes 1/4):
Space
Assign Axes:
-Forward Kinematics of 1. Assign DH-Axes (Use the Right Hand Rule): In this step, the axes of the different
Robotic Manipulators
frames describes the robot are assigned. The Z- and X- axes are ONLY assigned in
-DH-Convention
the DH-Convention.
-DH-Convention
Steps
a. Z-axis: at each joint
-Assign DH-Axes i. Revolute Joint: Z-axis is placed on the axis of rotation of the joint.
Z-axis

θ
ii. Prismatic Joint: Z-axis is placed along the axis of translation of the joint.
Z-axis

d
Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 7
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (Assign Axes 2/4):
Space
Assign Axes:
-Forward Kinematics of 1. Assign DH-Axes (Use the Right Hand Rule): In this step, the axes of the different
Robotic Manipulators
frames describes the robot are assigned. The Z- and X- axes are ONLY assigned in
-DH-Convention the DH-Convention.
-DH-Convention
Steps
b. X-axis: at each joint
-Assign DH-Axes
i. 𝑥0 is placed in any arbitrary direction perpendicular to 𝑧0 .

ii. 𝑥𝑖 (i = 1, 2, 3, ……. n) has to follow the following:

1. Perpendicular to 𝑧𝑖 and 𝑧𝑖−1 .
2. Intersecting 𝑧𝑖 and 𝑧𝑖−1 .

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 8
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (Assign Axes 3/4):
Space
Assign Axes:
-Forward Kinematics of
Robotic Manipulators
Take care of the following cases for assigning the X-axis:
-DH-Convention
𝒙𝒊
-DH-Convention 𝒛𝒊 and 𝒛𝒊−𝟏 are 𝒛𝒊 and 𝒛𝒊−𝟏 are 𝒛𝒊 and 𝒛𝒊−𝟏 are
Steps
Perpendicular Parallel Co-axial
-Assign DH-Axes
𝑥𝑖 is perpendicular to both at 𝑥𝑖 is the line connecting both. - If joint(i-1) is
any direction (common normal translation joint 𝑧1
of point of intersection. 𝑧1
𝑥𝑖 will be parallel
𝑥1 to 𝑥𝑖−1 .
𝑧1 θ 𝑥1
- If joint(i-1) is 𝑥0
𝑥1
𝑧0 rotational joint 𝑧0
𝑧0
𝑥𝑖 will have same
𝑥0 direction as 𝑥𝑖−1 θ
𝑥0
𝑥0 with angle θ.

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 9
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (Assign Axes 4/4):
Space
Assign Axes:
-Forward Kinematics of
Robotic Manipulators
For the End Effector:
-DH-Convention
a. Z-axis: The Z-axis of the End Effector is assigned always to be parallel to the last
-DH-Convention
Steps
Z-axis assigned to last joint.
-Assign DH-Axes
b. X-axis: The X-axis of the End Effector should satisfy the same previously
mentioned conditions for all joints.

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 10
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (DH-Parameters Table):
Space
DH-Parameters Table:
-Forward Kinematics of 2. Fill DH Parameters Table: After assigning the frames, each frame will be related to
Robotic Manipulators
the frame before it, through a transformation done from one frame to another in 4
-DH-Convention
main steps called DH parameters which are defined as:
-DH-Convention
Steps

-Assign DH-Axes ● θ𝒊 is the Rotation around the z𝒊−𝟏 axis, to make the Axes x𝒊−𝟏 and x𝒊 parallel from
-Fill DH- x𝒊−𝟏 to x𝒊 .
Parameters Table
● d𝒊 is the Translation along the z𝒊−𝟏 axis, in order to make the Origins O𝒊−𝟏 and O𝒊
approach each other.
● a𝒊 is the Translation along the x𝒊 axis, in order to make the Origins O𝒊−𝟏 and O𝒊
coincide.
● α𝒊 is the Rotation around the x𝒊 axis, in order to make the Axes z𝒊−𝟏 and z𝒊 aligned
from z𝒊−𝟏 to z𝒊 .
Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 11
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (DH-Parameters Table):
Space
DH-Parameters Table:
-Forward Kinematics of 2. Fill DH Parameters Table: After assigning the frames, each frame will be related to
Robotic Manipulators
the frame before it, through a transformation done from one frame to another in 4
-DH-Convention main steps called DH parameters which are defined as:
-DH-Convention
Steps

-Assign DH-Axes

-Fill DH-
Parameters Table

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 12
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (DH-Transformation
Space
Matrices):
-Forward Kinematics of
Robotic Manipulators DH-Transformation Matrices:
-DH-Convention 3. Get DH Transformation Matrices: From each row of the table a transformation
-DH-Convention
matrix can be obtained presenting the transformation from each frame to the
Steps other, which is obtained due to the series of rotations and translations made on
-Assign DH-Axes
axes as mentioned in the DH parameters.
-Fill DH-Parameters
Table The transformation between each frame and the other can be obtained as:
-Get DH
Transformation
Matrices

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 13
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

DH-Convention Steps (Total Transformation
Space
Matrix):
-Forward Kinematics of
Robotic Manipulators Total Transformation Matrix:
-DH-Convention 4. Obtain Total Transformation Matrix: In order to obtain the total transformation
-DH-Convention
matrix of the end effector with respect to the base frame, all previously obtained
Steps frames should be multiplied following the composite transformation matrix rule.
-Assign DH-Axes

-Fill DH-Parameters
Table

-Obtain Total
Transformation
Matrix

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 14
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 1:
-Forward Kinematics of ➢ Evaluate the forward kinematics for the following robotic manipulator using DH-
Robotic Manipulators
convention 𝐸. 𝐸
-DH-Convention

-DH-Convention Steps

-Assign DH-Axes 𝑙2
-Fill DH-Parameters 𝑞2
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans- 𝑙1

formation Matrix

-Examples
𝑞1

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 15
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
𝑋2
Space
Example 1: 𝐸. 𝐸
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝑍2
-DH-Convention Steps 𝑙2
-Assign DH-Axes 𝑞2
-Fill DH-Parameters 𝑋1
Table

-Get DH Transform- 𝑙1
ation Matrices
𝑍1
-Obtain Total Trans-
formation Matrix 𝑞1
-Examples 𝑋0
𝑍0

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 16
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 1: 𝒁𝒊−𝟏 𝑿𝒊
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝑭𝒓𝒂𝒎𝒆𝒐𝒍𝒅 𝑭𝒓𝒂𝒎𝒆𝒏𝒆𝒘 𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝟎
-DH-Convention Steps
𝟎 𝟏 𝟏 𝒒𝟏 𝟎 𝒍𝟏 𝟎 𝑻𝟏
-Assign DH-Axes
𝟏 𝟐 𝟐 𝟎 𝟏
-Fill DH-Parameters
𝒒𝟐 𝟎 𝒍𝟐 𝑻𝟐
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans-

formation Matrix

-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 17
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 1:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention

-DH-Convention Steps
𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝟎
-Assign DH-Axes 𝟏 𝒒𝟏 𝟎 𝒍𝟏 𝟎 𝑻𝟏
𝟐 𝟎 𝟏
-Fill DH-Parameters
Table
𝒒𝟐 𝟎 𝒍𝟐 𝑻𝟐
-Get DH Transform-
ation Matrices

-Obtain Total Trans-

𝑪 𝒒𝟏 −𝑺𝒒𝟏 𝟎 𝒍𝟏 𝑪𝒒 𝟏 𝑪 𝒒𝟐 −𝑺𝒒𝟐 𝟎 𝒍𝟐 𝑪𝒒 𝟐
formation Matrix 𝟎 𝑺 𝒒𝟏 𝑪 𝒒𝟏 𝟎 𝒍𝟏 𝑺 𝒒 𝟏 𝑺 𝒒𝟐 𝑪 𝒒𝟐 𝟎 𝒍𝟐 𝑺 𝒒
𝑻𝟏 = 𝟏 𝑻𝟐 = 𝟐
-Examples 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 18
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 1:
-Forward Kinematics of
Robotic Manipulators
Solution
𝟎 𝟎 𝟏
-DH-Convention 𝑻𝟐 = 𝑻𝟏 ∗ 𝑻𝟐
-DH-Convention Steps

-Assign DH-Axes
𝑪𝒒𝟏 +𝒒𝟐 −𝑺𝒒𝟏 +𝒒𝟐 𝟎 𝒍𝟐 𝑪𝒒𝟏 +𝒒𝟐 + 𝒍𝟏 𝑪𝒒 𝟏
-Fill DH-Parameters 𝟎 𝑺𝒒𝟏 +𝒒𝟐 𝑪𝒒𝟏 +𝒒𝟐 𝟎 𝒍𝟐 𝑺𝒒𝟏 +𝒒𝟐 + 𝒍𝟏 𝑺𝒒
𝑻𝟐 = 𝟏
Table
𝟎 𝟎 𝟏 𝟎
-Get DH Transform-
ation Matrices 𝟎 𝟎 𝟎 𝟏
-Obtain Total Trans-
formation Matrix 𝒙𝑬.𝑬 = 𝒍𝟐 𝑪𝒒𝟏 +𝒒𝟐 + 𝒍𝟏 𝑪𝒒
𝟏
-Examples 𝒚𝑬.𝑬 = 𝒍𝟐 𝑺𝒒𝟏 +𝒒𝟐 + 𝒍𝟏 𝑺𝒒
𝟏
𝒛𝑬.𝑬 = 𝟎
Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 19
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of ➢ Evaluate the forward kinematics for the following robotic manipulator using DH-
Robotic Manipulators
convention
-DH-Convention

-DH-Convention Steps

-Assign DH-Axes

-Fill DH-Parameters
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans-

formation Matrix

-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 20
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of
Robotic Manipulators

-DH-Convention

-DH-Convention Steps

-Assign DH-Axes

-Fill DH-Parameters
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans-

formation Matrix

-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 21
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2: 𝑧4
-Forward Kinematics of
Robotic Manipulators
Solution 𝑥5

-DH-Convention 𝑥2 𝑧2 𝑧3
𝑥3 𝑥4
-DH-Convention Steps

-Assign DH-Axes
𝑧1 𝑧5

-Fill DH-Parameters
Table
𝑥1 𝑥6 𝑧6

-Get DH Transform-
ation Matrices

-Obtain Total Trans- 𝑧0

formation Matrix

-Examples
𝑥0

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 22
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
-DH-Convention Steps
𝟏 𝒒𝟏 𝒍𝟏 𝟎 𝟎
-Assign DH-Axes
𝟐 −𝝅/𝟐 𝒒𝟐 𝟎 −𝝅/𝟐
-Fill DH-Parameters
Table 𝟑 𝟎 𝒒𝟑 𝟎 𝟎
-Get DH Transform- 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝝅/𝟐
ation Matrices

-Obtain Total Trans-

𝟓 𝒒𝟓 𝟎 𝟎 𝝅/𝟐
formation Matrix 𝟔 𝒒𝟔 𝒍𝟓 + 𝒍𝟔 𝟎 𝟎
-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 23
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
-DH-Convention Steps
𝟏 𝒒𝟏 𝒍𝟏 𝟎 𝟎 𝑪𝒒 𝟏 −𝑺𝒒𝟏 𝟎 𝟎
-Assign DH-Axes
𝟐 −𝝅/𝟐 𝒒𝟐 𝟎 −𝝅/𝟐 𝟎 𝑺𝒒𝟏 𝑪𝒒𝟏 𝟎 𝟎
𝑻𝟏 =
-Fill DH-Parameters
𝟎 𝟎 𝟏 𝒍𝟏
Table 𝟑 𝟎 𝒒𝟑 𝟎 𝟎 𝟎 𝟏
𝟎 𝟎
-Get DH Transform- 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝝅/𝟐
ation Matrices

-Obtain Total Trans-

𝟓 𝒒𝟓 𝟎 𝟎 𝝅/𝟐 𝟎 𝟎 𝟏 𝟎
formation Matrix 𝟔 𝒒𝟔 𝒍𝟓 + 𝒍𝟔 𝟎 𝟎 𝟏 −𝟏 𝟎 𝟎 𝟎
𝑻𝟐 =
-Examples 𝟎 −𝟏 𝟎 𝒒𝟐
𝟎 𝟎 𝟎 𝟏

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 24
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
-DH-Convention Steps
𝟏 𝒒𝟏 𝒍𝟏 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎
-Assign DH-Axes
𝟐 −𝝅/𝟐 𝒒𝟐 𝟎 −𝝅/𝟐 𝟐 𝟎 𝟏 𝟎 𝟎
-Fill DH-Parameters 𝑻𝟑 =
𝟎 𝟎 𝟏 𝒒𝟑
Table 𝟑 𝟎 𝒒𝟑 𝟎 𝟎
𝟎 𝟎 𝟎 𝟏
-Get DH Transform- 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝝅/𝟐
ation Matrices
𝟓 𝒒𝟓 𝟎 𝟎 𝝅/𝟐 𝑪 𝒒𝟒
-Obtain Total Trans- 𝟎 𝑺 𝒒𝟒 𝟎
formation Matrix 𝟔 𝒒𝟔 𝒍𝟓 + 𝒍𝟔 𝟎 𝟎 𝟑 𝑺 𝒒𝟒 𝟎 −𝑪𝒒𝟒 𝟎
-Examples 𝑻𝟒 =
𝟎 𝟏 𝟎 𝒍𝟒
𝟎 𝟎 𝟎 𝟏

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 25
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention
𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
-DH-Convention Steps
𝟏 𝒒𝟏 𝒍𝟏 𝟎 𝟎 𝑪 𝒒𝟓 𝟎 𝑺𝒒𝟓 𝟎
-Assign DH-Axes 𝑺 𝒒𝟓 𝟎 −𝑪𝒒𝟓 𝟎
𝟒
𝟐 −𝝅/𝟐 𝒒𝟐 𝟎 −𝝅/𝟐 𝑻𝟓 =
-Fill DH-Parameters 𝟎 𝟏 𝟎 𝟎
Table 𝟑 𝟎 𝒒𝟑 𝟎 𝟎 𝟎 𝟎 𝟎 𝟏
-Get DH Transform- 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝝅/𝟐
ation Matrices
𝟓 𝒒𝟓 𝟎 𝟎 𝝅/𝟐 𝑪 𝒒𝟔 −𝑺𝒒𝟔 𝟎 𝟎
-Obtain Total Trans-
formation Matrix 𝟔 𝒍𝟓 + 𝒍𝟔 𝟎 𝟎 𝟓 𝑺 𝒒𝟔 𝑪𝒒𝟔 𝟎 𝟎
𝒒𝟔 𝑻𝟔 =
-Examples 𝟎 𝟎 𝟏 𝒍𝟓 + 𝒍𝟔
𝟎 𝟎 𝟎 𝟏

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 26
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 2: 𝟎
𝑻𝟔 = 𝟎𝑻𝟏 ∗ 𝟏𝑻𝟐 ∗ 𝟐𝑻𝟑 ∗ 𝟑𝑻𝟒 * 𝟒𝑻𝟓 ∗ 𝟓𝑻𝟔
-Forward Kinematics of
Robotic Manipulators
Solution
𝒂𝟏𝟏 𝒂𝟏𝟐 𝒂𝟏𝟑 𝑿
-DH-Convention a11 = cos(q6)*(cos(q1)*sin(q5) + cos(q4)*cos(q5)*sin(q1)) + sin(q1)*sin(q4)*sin(q6)
a12 = cos(q6)*sin(q1)*sin(q4) - sin(q6)*(cos(q1)*sin(q5) + cos(q4)*cos(q5)*sin(q1)) 𝟎 𝒂𝟐𝟏 𝒂𝟐𝟐 𝒂𝟐𝟑 𝒀
-DH-Convention Steps a13 = cos(q4)*sin(q1)*sin(q5) - cos(q1)*cos(q5) 𝑻𝟔 =
a21 = cos(q6)*(sin(q1)*sin(q5) - cos(q1)*cos(q4)*cos(q5)) - cos(q1)*sin(q4)*sin(q6) 𝒂𝟑𝟏 𝒂𝟑𝟐 𝒂𝟑𝟑 𝒁
-Assign DH-Axes a22 = - sin(q6)*(sin(q1)*sin(q5) - cos(q1)*cos(q4)*cos(q5)) - cos(q1)*cos(q6)*sin(q4)
a23 = - cos(q5)*sin(q1) - cos(q1)*cos(q4)*sin(q5)
a31 = cos(q4)*sin(q6) - cos(q5)*cos(q6)*sin(q4)
𝟎 𝟎 𝟎 𝟏
-Fill DH-Parameters a32 = cos(q4)*cos(q6) + cos(q5)*sin(q4)*sin(q6)
Table a33 = -sin(q4)*sin(q5)

-Get DH Transform-
ation Matrices X = 𝒍𝟒 ∗ 𝒄𝒐𝒔(𝒒𝟏) + 𝒒𝟑 ∗ 𝒄𝒐𝒔(𝒒𝟏) − (𝒍𝟓 + 𝒍𝟔) ∗ (𝒄𝒐𝒔(𝒒𝟏) ∗ 𝒄𝒐𝒔(𝒒𝟓) − 𝒄𝒐𝒔(𝒒𝟒) ∗ 𝒔𝒊𝒏(𝒒𝟏) ∗
𝒔𝒊𝒏(𝒒𝟓))
-Obtain Total Trans-
Y = 𝒍𝟒 ∗ 𝒔𝒊𝒏(𝒒𝟏) + 𝒒𝟑 ∗ 𝒔𝒊𝒏(𝒒𝟏) − (𝒍𝟓 + 𝒍𝟔) ∗ (𝒄𝒐𝒔(𝒒𝟓) ∗ 𝒔𝒊𝒏(𝒒𝟏) + 𝒄𝒐𝒔(𝒒𝟏) ∗ 𝒄𝒐𝒔(𝒒𝟒) ∗
formation Matrix
𝒔𝒊𝒏(𝒒𝟓))
-Examples Z = 𝒍𝟏 + 𝒒𝟐 − 𝒔𝒊𝒏(𝒒𝟒) ∗ 𝒔𝒊𝒏(𝒒𝟓) ∗ (𝒍𝟓 + 𝒍𝟔)

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 27
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 3:
-Forward Kinematics of ➢ Evaluate the forward kinematics for the following robotic manipulator using DH-
Robotic Manipulators
convention
-DH-Convention

-DH-Convention Steps

-Assign DH-Axes

-Fill DH-Parameters
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans-

formation Matrix

-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 28
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 3:
-Forward Kinematics of
Robotic Manipulators
Solution
𝑙2 𝑧1 𝑥2
-DH-Convention 𝑙3
-DH-Convention Steps 𝑧2
𝑥1 𝑞3
-Assign DH-Axes 𝑞2
-Fill DH-Parameters 𝑙1
Table 𝑥3
𝑞4
-Get DH Transform- 𝑧3
ation Matrices 𝑙4
𝑧0 𝑥4
-Obtain Total Trans-
formation Matrix
𝑧4
-Examples 𝑥0
𝑞1

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 29
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 3:
-Forward Kinematics of
Robotic Manipulators
Solution
𝑙2 𝑧1 𝑥2
-DH-Convention 𝑙3
-DH-Convention Steps
𝑞3
𝑧2 𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑥1
-Assign DH-Axes 𝑞2 𝟏 𝒒𝟏 𝒍𝟏 𝒍𝟐 𝟎
-Fill DH-Parameters 𝑙1 𝟐 𝟎 𝒍𝟑
𝒒𝟐 𝝅
Table 𝑥3
𝑞4 𝟑 𝟎 𝒒𝟑 𝟎 𝟎
-Get DH Transform- 𝑧3
ation Matrices 𝑙4 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝟎
𝑧0 𝑥4
-Obtain Total Trans-
formation Matrix
𝑧4
-Examples 𝑥0
𝑞1

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 30
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 3:
-Forward Kinematics of
Robotic Manipulators
Solution
-DH-Convention 𝒊 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
-DH-Convention Steps 𝟏 𝒒𝟏 𝒍𝟏 𝒍𝟐 𝟎 𝑪𝒒𝟏 −𝑺𝒒𝟏 𝟎 𝒍𝟐 𝑪𝒒𝟏
-Assign DH-Axes
𝟐 𝒒𝟐 𝟎 𝒍𝟑 𝝅 𝟎 𝑺𝒒𝟏 𝑪𝒒𝟏 𝟎 𝒍𝟐 𝑺𝒒𝟏
𝑻𝟏 =
-Fill DH-Parameters 𝟎 𝟎 𝟏 𝒍𝟏
Table 𝟑 𝟎 𝒒𝟑 𝟎 𝟎 𝟎 𝟎 𝟎 𝟏
-Get DH Transform- 𝟒 𝒒𝟒 𝒍𝟒 𝟎 𝟎
ation Matrices

-Obtain Total Trans- 𝑪𝒒𝟐 𝑺 𝒒𝟐 𝟎 𝒍𝟑 𝑪𝒒𝟐 𝑪𝒒𝟒 −𝑺𝒒𝟒 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎

formation Matrix 𝟎 𝟏 𝟎 𝟎
𝟏 𝑺 𝒒𝟐 −𝑪𝒒𝟐 𝟎 𝒍𝟑 𝑺𝒒𝟐 𝟑 𝑺𝒒𝟒 𝑪𝒒𝟒 𝟎 𝟎 𝟐
𝑻𝟑 =
𝑻𝟐 = 𝑻𝟒 = 𝟎 𝟎 𝟏 𝒒𝟑
-Examples 𝟎 𝟎 −𝟏 𝟎 𝟎 𝟎 𝟏 𝒍𝟒
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 31
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Examples:
Space
Example 3:
-Forward Kinematics of
Robotic Manipulators
Solution
𝟎
-DH-Convention
𝑻𝟒 = 𝟎𝑻𝟏 ∗ 𝟏𝑻𝟐 ∗ 𝟐𝑻𝟑 ∗ 𝟑𝑻𝟒
-DH-Convention Steps

-Assign DH-Axes

-Fill DH-Parameters 𝑪𝒒𝟏 +𝒒𝟐 −𝒒𝟒 𝑺𝒒𝟏 +𝒒𝟐 −𝒒𝟒 𝟎 𝒍𝟑 𝑪𝒒𝟏 +𝒒𝟐 + 𝒍𝟐 𝑪𝒒 𝟏
Table
𝟎 𝑺𝒒𝟏 +𝒒𝟐 −𝒒𝟒 −𝑪𝒒𝟏 +𝒒𝟐 −𝒒𝟒 𝟎 𝒍𝟑 𝑺𝒒𝟏 +𝒒𝟐 + 𝒍𝟐 𝑺𝒒
-Get DH Transform- 𝑻𝟒 = 𝟏
ation Matrices 𝟎 𝟎 −𝟏 𝒍𝟏 − 𝒍𝟒 − 𝒒𝟑
-Obtain Total Trans- 𝟎 𝟎 𝟎 𝟏
formation Matrix

-Examples

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 32
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

-Joint Space Vs. Task

Next time ☺:
Space

-Forward Kinematics of
Robotic Manipulators

-DH-Convention

-DH-Convention Steps

-Assign DH-Axes • Derive the Inverse Kinematics of robotic manipulators.

-Fill DH-Parameters
Table

-Get DH Transform-
ation Matrices

-Obtain Total Trans-

formation Matrix

-Examples

-Next time

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 33
 Faculty of Engineering & Materials Science (EMS)
Mechatronics Engineering Department

See you Next time … ☺

Omar M. Shehata, Dalia Mamdouh Tutorial 03: Forward Kinametics (DH Convention) 34