Robot Kinematics

Dr. Supriya S. More

Assistant Professor,
Department of Robotics and Automation
 Unit 2 Forward Kinematics

3. Forward Kinematics

• Denavit-Hartenberg notations,

• Link- joint parameter,

• D-H rules for coordinate assignment,

• Arm Equation,

• Forward kinematics of manipulators,

• Screw transformation
 Forward Kinematics

Forward kinematics is the process of determining the position and orientation (pose)
of a robot’s end effector with respect to a reference (base) frame given the joint
variables (joint angles for revolute joints and joint displacements for prismatic joints).

•Input: Joint variables 𝑞 = 𝑞 𝑞 … 𝑞

•Output: End-effector pose (position + orientation)
•“Where is the end effector when the joints are at these values?”

Applications
Inverse Kinematics (IK):
•Robot motion simulation
• Determines the joint parameters required to reach a desired position
•Trajectory planning
and orientation of the end-effector.
•Workspace analysis
• More complex than FK, sometimes has multiple or no solutions.
•Real-time robot control
 Denavit-Hartenberg notations

• Coordinate Frames and Transformations:

 Robots use multiple coordinate frames (base, joints, end-effector).

 Use homogeneous transformation matrices (4×4) to convert between frames.

• Denavit–Hartenberg (DH) Parameters:

• Link length (a)

• Link twist (α)

• Link offset (d)

• Joint angle (θ)

 D-H Notations

To carry out kinematic analysis (kinematics) of manipulators with the help of link and joint
parameters, Denavit and Hartenberg proposed Parameters and rules, as discussed below.
DH Notations
DH Rules for assignment of Coordinate
 DH Rules for assignment of Coordinate

The right-hand rule defines robot coordinate systems by assigning the index finger to
the X-axis (forward), middle finger to the Y-axis (left), and thumb to the Z-axis
(upward), all perpendicular to each other. It is used to determine positive movement
(translation) and positive rotation (curl of fingers) for each joint.
 Screw Transformation

A screw transformation represents the combined rotation and translation of a rigid body along and about the
same axis. It is a compact and powerful way to describe robot joint motion, especially in spatial (3D)
manipulators.

Concept of a Screw
•A screw motion consists of:
• Rotation by angle 𝜃about a fixed axis
• Translation by distance ℎ𝜃along the same axis
•The axis is called the screw axis
•ℎis the pitch of the screw
Screw Transformation
Screw Transformation in Cartesian coordinate
Forward Kinematics (RR)
Problem No.1
Problem No.1
 Arm Equation

General Arm Equation

For an 𝑛-DOF robotic arm:
𝐗=𝑓 𝐪
where
•𝐗= end-effector position and orientation
•𝐪 = 𝑞 𝑞 … 𝑞 =joint variables

2-DOF Planar Arm Equation Consider a 2-link planar robotic arm with:
•Link lengths: 𝑙 , 𝑙
•Joint angles: 𝜃 , 𝜃
Position of End Effector

These are called the arm equations.

Forward Kinematics (RRR)
 Problem No.2
Find Position and orientation of end effector
Arm Equation
 Problems on arm equation

Problem No.1
A 2-DOF planar robotic arm has link lengths 𝑙 = 1 m and 𝑙 = 0.8 m. The joint angles are 30∘ and 45∘ .
•Determine the position of the end effector.
•Find the orientation of the arm
 Problems on arm equation

Problem No.2

A 3-DOF planar RRR robot has link lengths 0.5 m, 0.4 m, 0.3 mand joint angles 30∘ , 20∘ , 10∘ .
Calculate the end-effector position.
Determine the total orientation angle.
Forward Kinematics for RP Robot
Arm Equation
Problem on RP Joint
Cylindrical Coordinate System
Spherical Co-ordinate system
Forward Kinematics of 4DOF SCARA Robot
As 𝜃 𝑎𝑛𝑑𝜃 𝑎𝑟𝑒 𝑖𝑛 𝑓𝑖𝑟𝑠𝑡 𝑞𝑢𝑎𝑑𝑟𝑎𝑛𝑡 𝑡ℎ𝑒𝑦 𝑎𝑟𝑒 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑤ℎ𝑖𝑙𝑒𝜃 𝑖𝑠 𝑖𝑛 𝑡ℎ𝑖𝑟𝑑 𝑞𝑢𝑎𝑑𝑟𝑎𝑛𝑡 𝑠𝑜 𝑖𝑡 𝑖𝑠 𝑡𝑎𝑘𝑒𝑛 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒
 Sample Questions

Level 2
1. What is forward kinematics and inverse kinematics? Write significance of the same.

2. Explain the D-H notations with neat sketch.

3. Explain the DH rules for determination of co-ordinate with neat sketch.

4. Explain significance of arm equation

5. What is screw transformation? Give its significance.

6. Write General form of screw transformation.

 Sample Questions

Level 3
1. A 2-DOF planar robotic arm has link lengths
𝑙 = 1.2 mand 𝑙 = 0.6 m. The joint angles are 25∘ and 40∘ .
Determine the position of the end effector.
Find the orientation of the arm.

2. A 2-DOF planar robotic arm has link lengths

𝑙 = 0.9 mand 𝑙 = 0.7 m. The joint angles are 45∘ and 30∘ .
Determine the position of the end effector.
Find the orientation of the arm.

3. A 2-DOF planar robotic arm has link lengths

𝑙 = 1.1 mand 𝑙 = 0.5 m.
The joint angles are 35∘ and −20∘ .
Determine the position of the end effector.
Find the orientation of the arm.
 Sample Questions

Level 3
Apply forward Kinematics and Find Position and Orientation of End Effector
 Sample Questions

Level 3
Apply forward Kinematics and Find Position and Orientation of End Effector
 Sample Questions

Level 3
1. Apply forward kinematics to RR robot and derive position and orientation of robot using usual

notations.

2. Apply forward kinematics to RRR robot and derive position and orientation of robot using usual

notations.

3. Apply forward kinematics to RP robot and derive position and orientation of robot using usual

notations.
 Sample Questions

Level 4
1. Explain the rules for assigning coordinate frames in the Denavit–Hartenberg convention. Critically evaluate

how an incorrect assignment of axes can affect the accuracy of forward and inverse kinematics solutions.

2. Draw coordinate system and find DH parameters of given SCARA robot