WEEK 4: ROBOTICS

PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

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 Topic 2: Robot Kinematics

PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

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Example 2

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Example 2

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Forward Kinematics

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6
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Inverse Kinematics

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11
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An Example Z2 Z3
c

X2 X3
Y2 Y3
b Y1
Z1

X1

a Z0 Y0

X0

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D-H parameters’ table:

Frame 𝜽𝒊 𝒅𝒊 𝜶𝒊 𝒂𝒊
1 𝜽𝟏 a* 0 0
2 0 b -90 0
3 𝜽𝟑 0 0 c

a*: fixed offset

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Another Example Z2
c
Z3

X2 X3
Y2 Y3
b Y1
Z1

X1

a Z0 Y0

X0

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D-H parameters’ table:

Frame 𝜽𝒊 𝒅𝒊 𝜶𝒊 𝒂𝒊
1 0 a 0 0
2 𝜽𝟐 b* -90 0
3 𝜽𝟑 0 0 c

b*: fixed offset

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 TOPIC 3: TRAJECTORY PLANNING

PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

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Aim: To determine time history of position, velocity and
acceleration of end-effector of a manipulator, while moving from
an initial position to a final position through some
intermediate/via points.

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Points Cartesian scheme Joint-space scheme
S (XS,YS) (θ1S, θ2S)
1 (X1,Y1) (θ11, θ21)
2 (X2,Y2) (θ12, θ22)
3 (X3,Y3) (θ13, θ23)
G (XG,YG) (θ1G, θ2G)

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 Trajectory Planning

Cartesian scheme Joint-space scheme

•Computationally expensive,
as inverse kinematics problem
has to be solved, on-line

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Joint-Space Scheme
•To fit a smooth (continuous) curve through (θ1S, θ11, θ12, θ13, θ1G)
•First and second order derivatives must be continuous.

Various Trajectory Functions

•Cubic polynomial
•Fifth-order polynomial
•Linear trajectory function

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 POLYNOMIAL TRAJECTORY FUNCTION
Case-1
,

Initial and final values of joint angle are known, and angular
velocities at the beginning and end of the cycle are kept equal to
zero.
θf At t  ti  0;   i , & 0
At t  t ;    , & 0
f f
θ

θi

ti=0 tf t

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Let us consider cubic polynomial

 (t )  C0  C1t  C2t 2 C3t 3

where C0 , C1, C2 , C3 are the coefficients.

Differentiate with respect to time to get angular velocity

&(t )  C1  2C2t  3C3t 2

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Apply the initial conditions to angular displacement
and velocity equations. We get,
C0  i
C1  0
C0  C1t f  C2t 2f  C3t 3f   f
C1  2C2t f  3C3t 2f  0

Solving above equations, We get

 (t)  i  3(t  ) t 2  2(t  ) t 3

f
2
i f
3
i

f f

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Case-2
Initial and final values of joint angle are known and angular
velocities at the beginning and end of the cycle are assumed to
have non zero values.

At t  ti  0;   i ,   i
& &
At t  t f ;    f , & &f

Let us consider a third order polynomial of the form:

(t)  C0  C1t  C2 t 2 C3t 3
where C0 , C1, C2 , C3 are the coefficients.

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Differentiate with respect to time to get angular velocity
&(t )  C1  2C2t  3C3t 2

Apply the initial conditions to angular displacement and

velocity equations. We get,
C0  i
C1  &
i

C0  C1t f  C2t 2f  C3t 3f   f

C1  2C2t f  3C3t 2f  &f

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Solving above equations, We get

C0  i ,

C1  &
i,

3( f  i ) 2 & 1 &

C2   i   f ,
t 2f tf tf
2( f  i ) 1 & &
C3    ( f  i ).
t 3f 2
tf

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Case-3
Initial and final values of joint angle are known and angular
velocities and accelerations at the beginning and end of the cycle
are assumed to have non zero values.

At t  ti  0;   i , & & i ,   i
&
& & &
At t  t f ;    f , & &f , & & &
&
f

Let us consider a fifth-order polynomial as follows:

(t)  C0  C1t  C2t 2 C3t3  C4t 4  C5t 5
where C0 , C1, C2 , C3 , C4 and C5 are the coefficients.

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Differentiate with respect to time once to get angular
velocity and twice to get angular acceleration

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Apply the initial conditions to angular displacement, velocity
and acceleration equations. We get,

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Solving above equations, We get
C0  i ,
.
C1  i ,
..
C2  1
2 i . . .. ..
20( f i ) (8 f 12 i )t f (3i f )t f2
C3  2t3f
. . .. ..
30( i f )(14 f 16 i )tf (3i 2f )tf2
C4  2t f4
. . .. ..
12(f  i )  6(f  i )t f  (i  f )t f2
C5 
2t 5f

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A Numerical Example
• A single-link robot with a revolute joint is motionless at θ = 20⁰.
It is desired to move the joint in a smooth manner to θ = 80⁰ in
4.0 seconds. Find a suitable cubic polynomial to generate this
motion and bring the manipulator to rest at the goal.
Solution:

cubic polynomial

 (t )  C0  C1t  C2t 2 C3t 3 ------- (1)

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Conditions:

At time t  ti  0,
  i  20o ,
& 0;
At time t  t f =4.0 s,
   f  80o ,
& 0;

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 3( f  i ) 2( f  i )
 (t )  i  t2  t3
t 2f t 3f
3(80  20) 2 2(80  20) 3
 20  2
t  3
t
(4.0) (4.0)

 20 11.25t 2 1.875t 3

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 LINEAR TRAJECTORY FUNCTION

f


i

ti  0 tf t

(Pure Linear Trajectory Function)

Note: Infinite acceleration and declaration.

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(Modified Linear trajectory function with
parabolic blends)

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A Numerical Example
• A linear trajectory function with parabolic blends at its two
ends is to be obtained to satisfy the following conditions given
below. At time t  ti  0,
  i  20.0o ,
& 0.0;
At time t  t f =12.0 s,
   f  74.0o ,
& 0.0;

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Total cycle time tc = tf - ti =12.0 s

Time duration at each of the blend portion tb =3.0 s

Magnitude of acceleration/deceleration

&
& 2.0 degree/s2

Determine angular displacement and velocity at two junctions of

parabolic blends with the straight portion of trajectory function.

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Solution:
At point A

Angular displacement

1 1
 A  i  &
& tb2  20.0   (2.0)  (3.0)2
2 2
 29.0o

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Angular velocity

&
A  i    tb  0.0  2.0  3.0
& & &

 6.0 degree/s

At point B: From the symmetry of the trajectory function,

 f B   A i
74.0   B  29.0  20.0

B  65.0o

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Angular velocity in the linear portion of trajectory function

B  A

t f  2tb

65.0  29.0 36.0

   6.0 degree/s
12.0  2  3.0 6.0

To maintain continuity of the trajectory function at point B, &B

Should be equal to the velocity of the linear portion, that is,
6.0 degree per second.

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 SINGULARITY CHECKING THROUGH JACOBIAN

Let us consider six functions and each of which is a function of six

Independent variables.

y1  f1 (x1 , x 2 , x3 , x 4 , x5 , x 6 )
y2  f2 (x1 , x 2 , x3 , x 4 , x 5 , x 6 )
:
:
y6  f6 (x1 , x 2 , x3 , x 4 , x 5 , x 6 )
In vector notation: Y  F(X)

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Now,
f1 f f
y1  x1  1 x2  ....  1 x6
 x1  x2  x6
f f f
y2  2 x1  2 x 2  ....  2 x6
 x1  x2  x6
:
:
f6 f f
y6  x1  6 x 2  ....  6 x 6
 x1  x2  x6

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In vector notation:  Y  J(X)X
where J(X) is Jacobian.
 f1 f1 f1 
 x .... 
 x2  x6
 1

 f 2 f 2 f 2 
 x .... 
 1  x2  x6 
J  . 
 
. 
 f 6 f 6 f 6 
 .... 
  x1  x2  x6 

 


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 Now,
Y X
lim  lim J(X)
t 0 t t 0 t
Y & J(X)X
&

In Robotics,
V  J()&
Joint
Cartesian
Velocity
Velocity Jacobian

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 TWO DOF SERIAL MANIPULATOR
Px  L1 cos 1  L2 cos(1  2 )
Px
 L1 sin 1  L2 sin(1  2 )
1
Px
 L2 sin(1  2 )
2

Py  L1 sin 1  L2 sin(1  2 )
Py
 L1 cos 1  L2 cos(1  2 )
1
Py
 L2 cos(1  2 )
2

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  L1S1  L2S12 L2S12 
Jacobian J()   
 L1C1  L2C12 L2C12 
Now, & J1 () V


J1 () should exist, that is, J()  0

For Singularity Checking

J()  0

 L1 L 2 S2 0
Now,
L1  0,L2  0,
S2  0

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So,
2  00 or 1800

When
2  00 ; Fully- Stretched
2  1800 ; Folded-back Situation

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