Course Lecturer
[Link] Hamoud
Associate Professor, Mechanical Engineering Department
Faculty of Engineering at Helwan, Capital University
Robot kinematics
deals with the analytical study of the geometry of motion of a robot
arm w.r.t a fixed reference coordinate system as a function of
time without regard to the forces stnemom/ taht esuac eht noitom.
Z
Y
O
X
[Link] Hamoud
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OXYZ : Fixed Frame
O’X’Y’Z’ : Moving Frame
Z
1 0 0 Z’
Rx = 0 cos(ang) - sin(ang)
0 sin(ang) cos(ang)
cos(ang) 0 sin(ang) α
Ry = 0 1 0
- sin(ang) 0 cos(ang) α Y’ Y
OO’
cos(ang) - sin(ang) 0
RZ = sin(ang) cos(ang) 0
0 0 1 X’
X
[Link] Hamoud
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Applications
Pxyz = R * Puvw z
w
P v
px pu
p y = [R] p v
pz pw
y
u
x
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Example 1
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 = R( 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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If the moving frame is rotated and translated, the Transformation
Matrix can be used to describe this motion.
Transformation
Z
Rotation Translation
Z’
[R] [P]
Y’
1 0 0 dx
0 cos(ang) - sin(ang) dy
Ti = Y
0 sin(ang) cos(ang) dz
OO’
0 0 0 1
dy
X’
X
[Link] Hamoud
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Basic Homogenous Transformation Matrix
If the frame is translated by a vector
[Link] Hamoud
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9
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