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Unit-3 Robotics

Robot kinematics involves analyzing the motion of a robot arm relative to a fixed coordinate system over time. It includes forward kinematics, where the position and orientation of the end-effector are derived from joint angles, and reverse kinematics, where joint angles are calculated from the end-effector's position. Homogeneous transformations are used to solve kinematic equations by combining translation and rotation effects in a single matrix.

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9 views13 pages

Unit-3 Robotics

Robot kinematics involves analyzing the motion of a robot arm relative to a fixed coordinate system over time. It includes forward kinematics, where the position and orientation of the end-effector are derived from joint angles, and reverse kinematics, where joint angles are calculated from the end-effector's position. Homogeneous transformations are used to solve kinematic equations by combining translation and rotation effects in a single matrix.

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venkatasaketh2004
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UNIT 3

Robot Kinematics
Introduction:
• The robot arm kinematics deals with the analytic study of the motion of a
robot arm with respect to a fixed reference coordinate system as a function
of time.
• The mechanical manipulator can be modelled as an open loop articulated chain
wit several rigid links connected series by either ‘revolute’ or ‘prismatic’ joints
driven by the actuators.
• For a manipulator if position and orientation of the end-effector are derived
from the given joint angles and link parameters the scheme is called the forward
kinematics.
• If on the other hand the joint angles and the different configuration of the
manipulator are derived from the position and orientation of the end effector
the scheme is called the reverse kinematics.
Forward and Inverse kinematics scheme:
Revolute-
Revolute
two DOF 2-D
Manipulator
Representing the position
• Considering the revolute type of joint only, the position of
the end-effector can be represented by the joint angles θ1 ,
θ2, ……..θn as
Pjoint=(θ1 , θ2, ……..θn )
• The position of end-effector can also be defined in the world
space as, Pworld=(x,y,z)
• For a revolute –revolute(R-R) joint having 2 degrees of
freedom ,the links in 2-D is shown in fig.
• l1 and l2 are the links ,θ1,θ2 are the angles of rotation.
FORWARD AND REVERSE KINEMATICS
(TRANSFORMATION) OF THREE DEGREES OF FREEDOM
ROBOT ARM
Forward and Reverse Transformation of a Four
Degrees of Freedom Manipulator in 3-D
Homogeneous
Transformation
• The use of homogeneous
transformations is general method for
solving the kinematic equations of a
robot manipulator with many joints.
• A generalized transformation is
described by a single matrix that
combines the effects of translation and
rotation.

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