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Name: ECE Intro To Robotics Class Worksheet - Lecture 6

This document provides examples of forward kinematics for several common robot arm configurations. It includes the Denavit-Hartenberg parameters and transformation matrices for an RPR arm, spherical wrist robot, cylindrical robot, cylindrical robot with spherical wrist, Stanford manipulator, SCARA robot, and UR5 robot. Students are asked to determine the DH parameters and transformation matrices for each example.

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ايمن عبدالله العامري
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73 views10 pages

Name: ECE Intro To Robotics Class Worksheet - Lecture 6

This document provides examples of forward kinematics for several common robot arm configurations. It includes the Denavit-Hartenberg parameters and transformation matrices for an RPR arm, spherical wrist robot, cylindrical robot, cylindrical robot with spherical wrist, Stanford manipulator, SCARA robot, and UR5 robot. Students are asked to determine the DH parameters and transformation matrices for each example.

Uploaded by

ايمن عبدالله العامري
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Name: ECE Intro to Robotics

Class Worksheet – Lecture 6: Forward kinematics examples


𝐴𝑖
𝑐𝜃𝑖 −𝑠𝜃𝑖 𝑐𝛼𝑖 𝑠𝜃𝑖 𝑠𝛼𝑖 𝑟𝑖 𝑐𝜃𝑖
You are welcome to use robotica to generate the T matrices and check your work. 𝑠𝜃 𝑐𝜃𝑖 𝑐𝛼𝑖 −𝑐𝜃𝑖 𝑠𝛼𝑖 𝑟𝑖 𝑠𝜃𝑖
https://github.com/RoboticSwarmControl/robotica = [ 𝑖 ]
0 𝑠𝛼𝑖 𝑐𝛼𝑖 𝑑𝑖
RP arm 0 0 0 1

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

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Elbow manipulator

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

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3-link RPR arm
* indicates variable
𝑦3 Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝑥3

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Spherical Wrist

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

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Review: Cylindrical robot

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝑐1 0 −𝑠1 −𝑠1 𝑑3∗


𝑠 0 𝑐1 𝑐1 𝑑3∗
𝑇30 = 𝐴1 𝐴2 𝐴3 = [ 1 ]
0 −1 1 𝑑1 + 𝑑2∗
0 0 0 1

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Cylindrical robot + Spherical wrist

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Stanford Manipulator

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

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SCARA robot

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Universal Robot UR5, a 6R lightweight manipulator with 5 kg of payload. The six joints are
labeled as base, shoulder, elbow, wrist1, wrist2, and wrist3. The relevant kinematic lengths are
reported in the figure. See sample operation at https://youtu.be/9GLMe9Giq8Q

j5

j6
j4

j3

j2

j1

* indicates variable
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

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ECE 5397/6397: Intro to Robotics
Class Worksheet – Preparation for Lecture 7
For each: draw the coordinate frames, determine the DH parameters, and give the
transformation matrix Ai and T
Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝐴1 =

𝐴2 =

𝐴3 =

𝑇30 =

Link 𝑟𝑖 𝛼𝑖 𝑑𝑖 𝜃𝑖

𝐴1 =
𝐴2 =
𝐴3 =
𝐴4 =
𝐴5 =
𝐴6 =

𝑇60 =

03_30

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