Kinematics of

Robot
Manipulator
1
 Examples of Kinematics
Calculations
• Forward kinematics
z
Given joint variables

q  (q1 , q2 , q3 , q4 , q5 , q6 , qn )
y

x
Y  ( x, y, z , O, A, T )
End-effector position and orientation,
-Formula?
 Examples of Inverse Kinematics
• Inverse kinematics
End effector position z
and orientation
( x, y, z , O, A, T )
y

q  (q1 , q2 , q3 , q4 , q5 , q6 , qn ) x

Joint variables -Formula?

3
Example 1: one rotational
link
Forward kinematics
y0
x0  l cos  y1
x1
y0  l sin 
l

Inverse kinematics 
x0
  cos ( x0 / l )
1

4
Robot Reference Frames
– World frame
– Joint frame
– Tool frame
z
y
z x
y T P

W
x
R

5
 Coordinate Transformation
– Reference coordinate frame OXYZ
– Body-attached frame O’uvw
z
Point represented in OXYZ: P

Pxyz  [ px , p y , pz ] T
y
 w
Pxyz  px i x  p y jy  pz k z v

Point represented in O’uvw:

x
 O, O’
u
Puvw  pu i u  pv jv  pwk w
Two frames coincide ==> pu  px pv  p y pw  pz
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 Properties: Dot Product

Let x and y be arbitrary vectors in R3 and  be

the angle from x to y , then

x  y  x y cos
Properties of orthonormal coordinate frame
• Mutually perpendicular • Unit vectors
  
i  j 0 | i | 1
  
i k  0 | j | 1
  
k j 0 | k | 1
7
 Coordinate Transformation
• Coordinate Transformation
– Rotation only z
P

Pxyz  px i x  p y jy  pz k z
 y
Puvw  pu i u  pv jv  pwk w w v

Pxyz  RPuvw u
x

How to relate the coordinate in these two frames?

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 Basic Rotation
• Basic Rotation
– p x , p y, and p z represent the projections of P onto
OX, OY, OZ axes, respectively

– Since P  pu i u  pv jv  pwk w
px  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

pz  k z  P  k z  i u pu  k z  jv pv  k z  k w pw
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 Basic Rotation Matrix
• Basic Rotation Matrix
 px   i x  i u i x  jv i x  k w   pu 
 p    j i jy  jv  
jy  k w   pv  
 y  y u
 pz  k z  i u k z  jv k z  k w   pw 
– Rotation about x-axis with 
z
w
1 0 0  P v

Rot ( x, )  0 C 
 S 

0 S C  y
u
x 10
 Is it True? Can we check?
•
– Rotation about x axis with 
 p x  1 0 0   pu 
 p   0 cos    
 sin    pv 
 y  z
 p z  0 sin  cos    pw  w
P v

p x  pu

p y  pv cos   pw sin 
y
p z  pv sin   pw cos  u
x
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 Basic Rotation Matrices
– Rotation about x-axis with 
1 0 0 
Rot ( x, )  0 C  S 
0 S C 
– Rotation about y-axis with 
 C 0 S 
Rot ( y, )   0 1 0 
 S 0 C 

– Rotation about z-axis with 

C  S 0
Pxyz  RPuvw Rot ( z, )   S C 0
 0 0 1
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 Matrix notation for rotations
• Basic Rotation Matrix
 i x  i u i x  jv i x  k w 
R   jy  i u jy  jv jy  k w  Pxyz  RPuvw
k z  i u k z  jv k z  k w 
– Obtain the coordinate of Puvw from the coordinate of
Pxyz Dot products are commutative!

 pu   i u  i x i u  jy i u  k z   px 
 p    j i jv  j y

jv  k z   p y  Puvw  QPxyz
 v  v x
 pw  k w  i x k w  jy k w  k z   p z 
Q  R 1  RT
QR  RT R  R 1 R  I 3 <== 3X3 identity matrix

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Example 2: rotation of a point in a rotating
frame
• 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
 0.866 0.5 0 3   4.964 
 0 0 1 2  2 
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Example 3: find a point of rotated system
for point in coordinate system
• A point axyz  (4,3,2)is the coordinate w.r.t. the
reference coordinate system, find the
corresponding point auvw w.r.t. the rotated OU-V-
W coordinate system if it has been rotated 60
degree about OZ axis.

auvw  Rot ( z ,60)T a xyz

 0.5 0.866 0 4  4.598 
  0.866 0.5 0 3   1.964
 0 0 1 2  2 
• Reference coordinate frame OXYZ
• Body-attached frame O’uvw
 Composite Rotation Matrix
• A sequence of finite rotations
– matrix multiplications do not commute
– rules:
• 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

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 Example 4: finding a rotation matrix
• Find the rotation matrix for the following
operations:
R  Rot ( y,  ) I 3 Rot ( w,  ) Rot (u ,  )
Rotation  about OY axis
 C 0 S  C  S 0 1 0 0 
Rotation  about OW axis   0 1 0   S C 0 0 C  S 
Rotation  about OU axis - S 0 C   0 0 1 0 S C 
 CC SS  CSC CSS  SC 
  S CC  CS 

Answer...  SC SSC  CS CC  SSS 

Pre-multiply if rotate about the OXYZ axes

Post-multiply if rotate about the OUVW axes
Reference coordinate frame OXYZ 17
Body-attached frame O’uvw
 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}

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 Coordinate Transformations
• Two Special Cases
r  RB r  r
A P A B P A o'

1. Translation only
– Axes of {B} and {A} are
parallel A
RB  1

2. Rotation only
– Origins of {B} and {A} are
coincident
A o'
r 0
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 Homogeneous Representation
• Coordinate transformation from {B} to {A}
r  ARB B r P  Ar o '
A P

 A r P   A RB A r o '   B r P 
   
 1   013 1  1 
• Homogeneous transformation matrix
 RB r   R33 P31 
A A o' Rotation

TB   
A matrix

 013 1   0 1  Position
vector
Scaling
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 Homogeneous Transformation
• Special cases
1. Translation
 I 33 r 
A o'
A
TB   
013 1 

2. Rotation

 A
RB 031 
A
TB   
 013 1 

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 Example 5: translation
• Translation along Z-axis with h:
1 0 0 0  x  1 0 0 0  pu   pu 
0 1 0 0  y  0 1 0 0  pv   pv 
Trans ( z, h)     
0 0 1 h  z  0 0 1 
h pw    pw  h 
        
0 0 0 1  1  0 0 0 1  1   1 
z z P
P
w y
y
w v
v
x O, O’
u x
h
O, O’
u
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 Example 6: rotation
• Rotation about the X-axis by
1 0 0 0  x  1 0 0 0  pu 
0 C 0  y  0 C
 S  S 0  pv 
Rot ( x,  )    
0 S C 0  z  0 S C 0  p w 
      
0 0 0 1  1  0 0 0 1  1 
z
w
P v

y
u
x 23
 Homogeneous Transformation
• Composite Homogeneous Transformation
Matrix

• Rules:
– Transformation (rotation/translation) w.r.t (X,Y,Z)
(OLD FRAME), using pre-multiplication

– Transformation (rotation/translation) w.r.t (U,V,W)

(NEW FRAME), using post-multiplication

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 Example 7: homogeneous
transformation
• Find the homogeneous transformation matrix (T)
for the following operations:
Rotation  about OX axis
Translatio n of a along OX axis
Translatio n of d along OZ axis
Rotation of  about OZ axis T  Tz , Tz ,d Tx ,aTx , I 44

Answer :
C  S 0 0 1 0 0 0  1 0 0 a  1 0 0 0
 S C 0 0 0 1 0 0  0 1 0 0  0 C  S 0

 0 0 1 0  0 0 1 d  0 0 1 0  0 S C 0
    
 0 0 0 1  0 0 0 1  0 0 0 1  0 0 0 1
Homogeneous Representation
• A frame in space (Geometric
Interpretation) P( px , p y , pz )
z
 R33 P31  a (z’)
F  
s(y’)
 0 1  n (X’)
y
 nx sx ax px 
n sy ay p y 
F  y
 nz sz az pz  x
 
0 0 0 1
Principal axis n w.r.t. the reference coordinate system
 Homogeneous Transformation
• Translation a
s
1 0 0 d x   nx s x ax px  z n
0 1 0 d y  n y s y ay p y 
a
Fnew   s
0 0 
1 d z  nz s z az pz 
    n
0 0 0 1 0 0 0 1
 nx sx ax px  d x  y
n s y a y p y  d y 
 y
 nz sz az pz  d z 
 
0 0 0 1 
Fnew  Trans (d x , d y , d z )  Fold
 Homogeneous Transformation
Composite Homogeneous Transformation Matrix
z1 z2 y2

y1 x2
z0 0
A1 1
A2
y0
x1
0
A2  A1 A2
0 1

x0
?
i 1 Transformation matrix for
Ai adjacent coordinate frames

Chain product of successive

coordinate transformation matrices
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 Example 8: homogeneous transformation based on
geometry
• For the figure shown below, find the 4x4 homogeneous transformation matrices
i 1 and 0
Ai for i=1, 2, 3, 4, 5
A i

 nx sx ax px   1 0 0 0 
c
n  0 0 1 e  c 
sy ay p y  A1   
F  y
0
z3  0 1 0 a  d 
b y3 x3  nz sz az pz   
z5 d    0 0 0 1 
0 0 0 1
x5 0  1 0 b 
y5 z4 0 0  1 a  d 
A2   
e 1

x4 y4 z2 1 0 0 0 
 
a
x2  0 0 0 1 
z1 x1 y2
z0 0 1 0 b 
y1  1 0 0 e  c 
x0
y0
Can you find the answer by observation
0
A2  
0 0 1 0 
based on the geometric interpretation of  
homogeneous transformation matrix? 0 0 0 1 
 Orientation Representation
 R33 P31 
F  
 0 1 
• Rotation matrix representation needs 9 elements
to completely describe the orientation of a rotating
rigid body.
• Any easy way?

Euler Angles Representation

 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  about OW axis  about OZ axis
 Euler Angle I, Animated

w'= z

w'"= w"
 v'"
v"

v'
y

u'"

u' =u"
x
 Orientation Representation
• Euler Angle I
 cos   sin  0 1 0 0 
   
Rz   sin  cos  0 , Ru '   0 cos   sin  ,
 1   0 sin  cos  
 0 0 
 cos   sin  0
 
Rw''   sin  cos  0
 0 1 
 0
 Euler Angle I
Resultant eulerian rotation matrix:

R  Rz Ru ' Rw''

 cos  cos   cos  sin  
 sin  sin  
  sin  sin  cos  sin  cos  cos 
 
 
 sin  cos   sin  sin   cos  sin  
  cos  sin  cos  cos  cos  cos 
 
 
 sin  sin  cos  sin  cos 
 
 Euler Angle II, Animated

w'= z

w"'= w" 

 v"'
 v' =v"
y
u"'
u"
Note the opposite u'
(clockwise) sense of the x
third rotation, .
35
 Orientation Representation
• Matrix with Euler Angle II
  sin  sin   sin  cos  
 cos  sin  
  cos  cos  cos  sin  cos  cos 
 
 
 cos  sin  cos  cos  sin  sin  
  sin  cos  cos  sin  cos  cos 
 
 cos 
  cos  sin  sin  sin 
 
Quiz: How to get this matrix ?
36
 Orientation Representation
• Description of Roll Pitch Yaw
Z

 Y

X

Quiz: How to get rotation matrix ?

 38
The City College of New York
Introduction to ROBOTICS

Kinematics of Robot Manipulator

Jizhong Xiao
Department of Electrical Engineering
City College of New York
[email protected]

39
The City College of New York