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Introduction To Robotics

This document provides an introduction to robotics kinematics and the Denavit-Hartenberg (DH) representation for modeling robot manipulators. It discusses kinematic chains, joints, links, and how to assign coordinate frames to links using the DH parameters of link twist (α), link length (a), link offset (d), and joint angle (θ). These DH parameters are used to define the transformation between adjacent link frames and calculate the forward kinematics of the robot.

Uploaded by

Naveed Malik
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
39 views

Introduction To Robotics

This document provides an introduction to robotics kinematics and the Denavit-Hartenberg (DH) representation for modeling robot manipulators. It discusses kinematic chains, joints, links, and how to assign coordinate frames to links using the DH parameters of link twist (α), link length (a), link offset (d), and joint angle (θ). These DH parameters are used to define the transformation between adjacent link frames and calculate the forward kinematics of the robot.

Uploaded by

Naveed Malik
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Introduction to Robotics

Lecture 6

Lecture Contents Manipulator


Kinematics

Introduction
Kinematics Joints
Link Description
Denavit - Hartenberg Representation

Central Topic
Problem
Given: The manipulator geometrical parameters
Specify: The position and Orientation of Manipulator
Solution:
Coordinate System or Frames are attached to the manipulator
and objects in environment according to Denavit Hartenberg
notation

Introduction
Kinematics
Kinematics is the science of motion that treats the subject
without regard to the forces that cause it (e.g., the position,
the velocity, the acceleration, and all higher order derivatives
of the position)
Kinematics of Manipulators
It refers to all geometrical and time based properties of the
motion

Kinematic Chain
Mechanisms of robots and other machines can be described
with the help of a kinematic chain
The definition of a kinematic chain is any assemblage of rigid
members that are joined together
Consider as an example the piston and crank mechanism of an
engine
Its kinematic chain consists of four rigid members, also called
as links
The links are joined together via four kinematic joints
Each link of kinematic chain has a special name, depending on
its location and its role

Kinematic Chain
First, any kinematic chain in a machine has
a fixed link that does not move at all. Such
link is also called a base or frame. It is the
engine case in this example
Second, each linkage has one or more
input links. Input links are powered by an
actuator or by other means. In this
example, the piston is powered by the
engine
Third, each linkage has one or more
output links whose power is used to do
the desired job. In this example, the
output link is the crank
Finally, there are intermittent links whose
role is to ensure power transmission

Kinematic Joints
A kinematic joint is formed via direct contact between two
links
The German researcher Franz Reuleaux called kinematic joint
a pair

The role of the joint is:


To keep the links in contact
To keep the links in relative motion along some direction(s)
To constrain the motion along other directions

Kinematic Joints
From the viewpoint of contact condition, joints can be
distinguished as:
1. Point contact
2. Line contact
3. Surface contact
These joints are shown as:

Kinematic Joints
Also, a joint is characterized by its degree of freedom (DOF)
Definition(Joint DOF): the number of independent
coordinates needed to specify the position of one link with
respect to the other
The DOF of a joint can be obtained as:
Joint DOF = 6 Number of constraints

Here, the number 6 means the DOF of a free body

Kinematic Joints
From the viewpoint of joint DOF, there are lower pair joints
and higher pair joints
Lower pair joint are joints with surface contact only
There are only six types of lower pair joints as follows:
R-joint= Revolute joint (1 DOF)
P-joint= Prismatic joint (1 DOF)
H-joint= Helical joint ( Screw joint) (1 DOF)
C-joint= Cylindrical joint (2 DOF)
S-joint= Spherical Joint( Ball joint) (3 DOF)
PL-joint= Planar joint (3 DOF)

Kinematic Joints

Kinematic Joints
Higher pair joints, on the other hand, are joints with point and line contact
There is an infinite number of such joints are shown in figure. Some of these

Link Description
A manipulator may be thought of as a set of bodies connected
in a chain by joints. These bodies are called links
Joints form a connection between a neighboring pair of links
Link
A rigid connection which defines the relationship between
two neighboring joint axes of the manipulator
The links are numbered starting from
The immobile base of the arm, which might be called link 0
The first moving body is link 1, and so on, out to the free end
of the arm, which is link n

Link Description
A single link of a typical robot has many attributes that a
mechanical designer had to consider during its design:

The type of material used


The strength and stiffness of the link
The location and type of the joint bearings
The external shape
The weight and inertia, etc.

Link Description
Joint-Axis

Joint axis are defined by


lines in space
Joint axis i is defined by
a line in space (or vector
direction) about which
link i rotates relative to
the link i-1

Link Parameters

Link Length
a i-1 - Distance between
axis i and axis i-1
a i-1 is the length of
perpendicular between
the joint axes
These two axes can be
viewed as lines in space
The common
perpendicular is the
shortest line between
the two axis lines and is
perpendicular to both
axis lines

Link Parameters
Link Twist
i-1 Angle measured
from axis i-1 to axis i
It is the amount of
rotation around the
common perpendicular
so that the joint axes
are parallel
It is taken positive
when rotation is made
counter-clockwise

Link Parameters Example

Link length = 7
inches
Link twist= 45
degrees

Joint Variables
Link Offset
di signed distance
measured
along
the common axis i
(joint i) from point
where ai-1 intersect
axis i to point
where ai intersect
the axis i
The link offset di is
variable of joint i if
joint is prismatic

Joint Variables
Joint Angle
i the signed angle
made between an
extension of ai-1 and ai
measured about the
axis of the joint i
The joint angle i is
variable if joint i is
revolute
The sign of i is given
by the right hand rule

Joint/Link Parameters and Variables


First and last links in the chain
Link length and link twist, depend on joint axes i and i + 1.
At the ends of the chain, it will be the convention to assign
zero to these quantities

Joint/Link Parameters and Variables


First and last links in the chain
Link offset and joint angle are well defined for joints 2 through
n-1 according to the conventions
If joint 1 is revolute, the zero position for i may be chosen
arbitrarily and di = 0.0 will be the convention
if joint 1 is prismatic, the zero position of di may be chosen
arbitrarily and i = 0.0 will be the convention

Exactly the same statements apply to joint n

Denavit Hartenberg Representation


In 1955, Denavit and Hartenberg published a paper in the
ASME Journal of Applied Mechanics that was later used to
represent and model robots and to derive their equations of
motion

This technique has become the standard way of representing


robots and modeling their motions and thus is essential to
learn
The Denavit - Hartenberg (DH) model of representation is a
simple way of modeling robot links and joints that can be used
for any robot configuration

Denavit Hartenberg Representation


Robot Coordinates
Base coordinates 0
Hand Coordinates H
Link Coordinates 1 to n
Construct i-1 i T
Goal to find relation:
0 T = 0 T 1 T .. n-1 T
n
1
2
n

Denavit Hartenberg Representation


To model the robot with DH representation, assign a local
reference frame to each and every joint
Thus, for each joint, will have to assign a Z-axis and X-axis

Normally, no need to assign Y-axis, since Y-axis is mutually


perpendicular to both X and Z axis
In addition, DH representation does not use the Y-axis at all
Procedure for assigning a local reference frame to each joint is
discussed next

Denavit Hartenberg Representation


Denavit Hartenberg
Rules Application
DH applicable to :

Open link kinematic


chain. Joints with one
degree of freedom only.
Joints are revolute or
prismatic only

Affixing frames to Links Intermediate


Links in the chain
Origin of Frame {i}
The origin of frame {i}
is located where the
distance ai
perpendicular
intersects the joint
axis i
Z- axis
The Z-axis of the
frame {i} is coincident
with the joint axis i

Affixing frames to Links Intermediate


Links in the chain
X-axis
The Xi points along the
distance ai in direction
from joint i to joint i+1

For ai=0, Xi is normal to


the plane of Zi and Zi+1
The link twist angle is i
is measure in a right
hand sense about Xi

Affixing frames to Links Intermediate


Links in the chain
Y-axis
The Yi is formed by the right hand rule
to complete the ith frame
Frame {0}
The frame attached to the base of the
robot or link 0 is called frame{0}
This frame does not move and for the
problem of arm kinematics can be
considered as the reference frame

Affixing frames to Links Intermediate


Links in the chain
Frame {0} concides with frame {1}
a0 = 0
0 = 0

Joint 1-Revolute

i = 0 Arbitrary
di = 0 Convention

Joint 1-Prismatic

i = 0 Convention
di = 0 Arbitrary

Link Frame Attachment ProcedureSummary


1. Identify the joint axes and imagine(or draw) infinite lines
along them
2. For step to step 5 below, consider two of these neighboring
lines( at axes i and i+1)
3. Identify the common perpendicular between them or point
of intersection. At the point of intersection, or at the point
where the common perpendicular meets the ith axis, assign
the link frame origin
4. Assign the axis Zi axis pointing along the ith joint axis

Link Frame Attachment ProcedureSummary


5. Assign the Xi axis pointing along the common perpendicular or
if the axes intersect, assign Xi to be normal to the plane
containing the two axes
6. Assign Yi axis to complete the right hand coordinate system
7. Assign frame{0} to match frame {1} when the first joint
variable is zero

8. For frame{N} choose an origin location and Xn direction freely


but generally so as to cause as many linkage parameters as
possible to be zero

DH Parameters Summary
4 DH parameters
(i, ai, di, i)
3 fixed link parameters

1 joint variable
i = Revolute Joint
di = Prismatic Joint
i and ai describes link i
di and i describes the link connection

DH Parameters Summary
If the link frames have
been attached to the links
according to our
convention, the following
definitions of the link
parameters are valid

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