FAB30703

Universiti Kuala Lumpur Malaysia France Institute

Spatial Transformations - 2

Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
 Outline
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• Review
– Manipulator Specifications
• Precision, Repeatability
– Homogeneous Matrix
• Denavit-Hartenberg (D-H) Representation
• Kinematics Equations
• Inverse Kinematics
 Review
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• Manipulator, Robot arms, Industrial robot

– A chain of rigid bodies (links) connected by
joints (revolute or prismatic)
• Manipulator Specification
– DOF, Redundant Robot
– Workspace, Payload
– Precision How accurately a specified point can be reached

– Repeatability How accurately the same position can be reached

if the motion is repeated many times
 Review
• Manipulators:
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Cartesian: PPP Cylindrical: RPP Spherical: RRP

Hand coordinate:

SCARA: RRP n: normal vector; s: sliding vector;

Articulated: RRR (Selective Compliance a: approach vector, normal to the
Assembly Robot Arm)
tool mounting plate
 Review
• Basic Rotation Matrix
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⎡ px ⎤ ⎡ i x ⋅ i u i x ⋅ jv i x ⋅ k w ⎤ ⎡ pu ⎤
Pxyz = ⎢⎢ p y ⎥⎥ = ⎢⎢ jy ⋅ i u j y ⋅ jv jy ⋅ k w ⎥⎥ ⎢⎢ pv ⎥⎥ = RPuvw
⎢⎣ p z ⎥⎦ ⎢⎣k z ⋅ i u k z ⋅ jv k z ⋅ k w ⎥⎦ ⎢⎣ pw ⎥⎦
z
Pxyz = RPuvw w
P v
Puvw = QPxyz

Q = R −1 = RT y
u
x
 Basic Rotation Matrices
– Rotation about x-axis with θ
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⎡1 0 0 ⎤
Rot ( x,θ ) = ⎢⎢0 Cθ − Sθ ⎥⎥
⎢⎣0 Sθ Cθ ⎥⎦
– Rotation about y-axis with θ
⎡ Cθ 0 Sθ ⎤
Rot ( y, θ ) = ⎢⎢ 0 1 0 ⎥⎥
⎢⎣− Sθ 0 Cθ ⎥⎦

– Rotation about z-axis with θ

⎡Cθ − Sθ 0⎤
Pxyz = RPuvw Rot ( z , θ ) = ⎢⎢ Sθ Cθ 0⎥⎥
⎢⎣ 0 0 1⎥⎦
 Review
• Coordinate transformation from {B} to {A}
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r = RB B r P + Ar o '
A P A

⎡ A r P ⎤ ⎡ A RB ⎤
A o'
r ⎡ r ⎤
B P

⎢ ⎥=⎢ ⎥⎢ ⎥
⎣ 1 ⎦ ⎣ 01×3 1 ⎦⎣ 1 ⎦
• Homogeneous transformation matrix
⎡ RB r ⎤ ⎡ R3×3
A o'
P3×1 ⎤
A Rotation

TB = ⎢ ⎥=⎢
A matrix
⎥
⎣ 01×3 1 ⎦ ⎣ 0 1 ⎦ Position
vector
Scaling
 Review
• Homogeneous Transformation
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– Special cases
1. Translation
⎡ I 3×3 r ⎤
A o'
A
TB = ⎢ ⎥
⎣01×3 1 ⎦

2. Rotation
⎡ A
RB 03×1 ⎤
A
TB = ⎢ ⎥
⎣ 01×3 1 ⎦
 Review
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• Composite Homogeneous Transformation

Matrix
• Rules:
– Transformation (rotation/translation) w.r.t. (X,Y,Z)
(OLD FRAME), using pre-multiplication
– Transformation (rotation/translation) w.r.t.
(U,V,W) (NEW FRAME), using post-
multiplication
 Review
• Homogeneous Representation
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– A point in R 3 space
⎡ px ⎤
⎢p ⎥
P = ⎢ y ⎥ Í Homogeneous coordinate of P w.r.t. OXYZ
⎢ pz ⎥
⎢ ⎥ z P( px , p y , pz )
⎣1⎦ a
3
s
– A frame in R space
n
⎡ nx sx ax px ⎤
⎢ y
⎡n s a P ⎤ ⎢n y sy ay p y ⎥⎥
F =⎢ ⎥ =
⎣0 0 0 1 ⎦ ⎢ nz sz az pz ⎥
⎢ ⎥
⎣0 0 0 1⎦ x
 Review
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• Orientation Representation
(Euler Angles)
– Description of Yaw, Pitch, Roll
Z
• A rotation of ψ about the OX
axis ( Rx ,ψ ) -- yaw φ roll
• A rotation of θ about the OY
axis ( R y ,θ ) -- pitch yaw
• A rotation of φ about the OZ ψ Y
axis ( Rz ,φ ) -- roll θ
pitch
X
 Quiz 1
• How to get the resultant rotation matrix for YPR?
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T = Rz ,φ R y ,θ Rx ,ψ
⎡Cφ − Sφ 0 0 ⎤ ⎡ Cθ 0 Sθ 0⎤ ⎡1 0 0 0⎤
⎢ Sφ Cφ 0 0⎥⎥ ⎢⎢ 0 1 0 0⎥⎥ ⎢ 0 Cψ − Sψ 0⎥⎥
=⎢ ⎢
⎢0 0 1 0 ⎥ ⎢ − Sθ 0 Cθ 0⎥ ⎢ 0 Sψ Cψ 0⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣0 0 0 1⎦ ⎣ 0 0 0 1⎦ ⎣0 0 0 1⎦
Z
φ

ψ Y
θ
X
 Quiz 2
• Geometric Interpretation?
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⎡ R3×3 P3×1 ⎤ Orientation of OUVW coordinate

T =⎢ ⎥
frame w.r.t. OXYZ frame

⎣ 0 1 ⎦ Position of the origin of OUVW

coordinate frame w.r.t. OXYZ frame
• Inverse Homogeneous Matrix?
−1 ⎡ R T
− R T
P ⎤ Inverse of the rotation submatrix
T =⎢ ⎥ Position of the origin of OXYZ
is equivalent to its transpose

⎣0 1 ⎦ reference frame w.r.t. OUVW frame

⎡ R T
− RT P⎤ ⎡ R P⎤ ⎡ RT R 0⎤
T −1T = ⎢ ⎥⎢ ⎥ =⎢ ⎥ = I 4×4
⎣0 1 ⎦ ⎣ 0 1 ⎦ ⎣ 0 1⎦
 Kinematics Model
• Forward (direct) Kinematics
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q = (q1 , q2 , L qn ) z
Joint Position and Orientation
variables of the end-effector
Direct Kinematics

Inverse Kinematics
x

• Inverse Kinematics Y = ( x, y, z , φ , θ ,ψ )
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Robot Links and Joints

 Denavit-Hartenberg Convention
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• Number the joints from 1 to n starting with the base and ending with
the end-effector.
• Establish the base coordinate system. Establish a right-handed
orthonormal coordinate system ( X 0 , Y0 , Z 0 ) at the supporting base
with Z 0 axis lying along the axis of motion of joint 1.
• Establish joint axis. Align the Zi with the axis of motion (rotary or
sliding) of joint i+1.
• Establish the origin of the ith coordinate system. Locate the origin of
the ith coordinate at the intersection of the Zi & Zi-1 or at the
intersection of common normal between the Zi & Zi-1 axes and the Zi
axis.
• Establish Xi axis. Establish X i = ±( Z i −1 × Z i ) / Z i −1 × Z i or along the
common normal between the Zi-1 & Zi axes when they are parallel.
• Establish Yi axis. Assign Yi = +( Z i × X i ) / Z i × X i to complete the
right-handed coordinate system.
• Find the link and joint parameters
 Example I
• 3 Revolute Joints
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Z3
Z0 Z1
Joint 3
Y0 Z O3 X3
Y1 2

Link 1 Link 2 d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2

a0 a1
 Link Coordinate Frames
• Assign Link Coordinate Frames:
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– To describe the geometry of robot motion, we assign a Cartesian

coordinate frame (Oi, Xi,Yi,Zi) to each link, as follows:
• establish a right-handed orthonormal coordinate frame O0 at
the supporting base with Z0 lying along joint 1 motion axis.
• the Zi axis is directed along the axis of motion of joint (i + 1),
that is, link (i + 1) rotates about or translates along Zi;
Z3
Z0 Z1
Joint 3
Y0 Z O3 X3
Y1 2

Link 1 Link 2 d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2

a0 a1
 Link Coordinate Frames
– Locate the origin of the ith coordinate at the intersection
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of the Zi & Zi-1 or at the intersection of common normal

between the Zi & Zi-1 axes and the Zi axis.
– the Xi axis lies along the common normal from the Zi-1
axis to the Zi axis X i = ±( Z i −1 × Z i ) / Z i −1 × Z i , (if Zi-1 is
parallel to Zi, then Xi is specified arbitrarily, subject only
to Xi being perpendicular to Zi); Z3
Z0 Z1
Joint 3
Y0 Z O3 X3
Y1 2

d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2

a0 a1
 Link Coordinate Frames
– Assign Yi = +( Z i × X i ) / Z i × X i to complete the right-
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handed coordinate system.

• The hand coordinate frame is specified by the geometry On
of the end-effector. Normally, establish Zn along the
direction of Zn-1 axis and pointing away from the robot;
establish Xn such that it is normal to both Zn-1 and Zn
axes. Assign Yn to complete the right-handed coordinate
system. Z3
Z0 Z1
Joint 3
Y0 Z O3 X3
Y1 2

d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2

a0 a1
 Link and Joint Parameters
• Joint angle θ i : the angle of rotation from the Xi-1 axis to
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the Xi axis about the Zi-1 axis. It is the joint variable if joint i
is rotary.

• Joint distance d i : the distance from the origin of the (i-1)

coordinate system to the intersection of the Zi-1 axis and
the Xi axis along the Zi-1 axis. It is the joint variable if joint i
is prismatic.

• Link length ai : the distance from the intersection of the Zi-1

axis and the Xi axis to the origin of the ith coordinate
system along the Xi axis.

• Link twist angle α i : the angle of rotation from the Zi-1 axis
to the Zi axis about the Xi axis.
 Example I Z3
Z0 Z1
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Joint 3
Y0 Z O3 X3
Y1 2

d2
Joint 1
O0 X0 O1 X1 O2 X2 D-H Link Parameter Table
Joint 2
Y2 Joint i αi ai di θi

a0 a1 1 0 a0 0 θ0

α i : rotation angle from Zi-1 to Zi about Xi 2 -90 a1 0 θ1

ai : distance from intersection of Zi-1 & Xi 3 0 0 d2 θ2

to origin of i coordinate along Xi
di : distance from origin of (i-1) coordinate to intersection of Zi-1 & Xi along Zi-1
θi : rotation angle from Xi-1 to Xi about Zi-1
 Example II: PUMA 260
1. Number the joints
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2. Establish base frame

θ1 θ2 3. Establish joint axis Zi

Z1 4. Locate origin, (intersect.

of Zi & Zi-1) OR (intersect
O1 θ3 of common normal & Zi )
X1 Z2 Z6 5. Establish Xi,Yi
Y1 O
Y3 2 X i = ±(Zi −1 × Zi ) / Zi −1 × Zi
Z5 Z
O3 X 2 θ 6 Y6 4
Y2
O6
θ 5
Yi = + ( Z i × X i ) / Z i × X i
Z0
X 3 Y4 Y5
t
O5 X5 X6
O4 Z 3
X4 θ4
PUMA 260
 Link Parameters
J θi αi ai d i
θ1
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1 -90 0 13
θ1 θ2 2 θ2 0 8 0
3 θ3 90 0 -l
Z1
4 θ4 -90 0 8
O1 θ3 5 θ5 90 0 0
X1 Z2 Z6
Y1 6 0 0 t θ6
O
Y3 2 Z Z4
O3 X 2 5 θ 6 Y6
Y2
O
θ 5 θ : angle from X to X
Z0 6 i i-1 i
X 3 Y4 Y5 about Zi-1
O5 X5 X6
O4 Z 3 α i : angle from Zi-1 to Zi
about Xi
X4 θ 4 ofaiZ: distance from intersection
& X to O along Xi
i-1 i i

Joint distance d i : distance from O

i-1 to intersection of Zi-1 & Xi along Zi-1
 Transformation between i-1 and i
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• Four successive elementary transformations

are required to relate the i-th coordinate frame
to the (i-1)-th coordinate frame:
– Rotate about the Z i-1 axis an angle of θi to align the
X i-1 axis with the X i axis.
– Translate along the Z i-1 axis a distance of di, to bring
Xi-1 and Xi axes into coincidence.
– Translate along the Xi axis a distance of ai to bring
the two origins Oi-1 and Oi as well as the X axis into
coincidence.
– Rotate about the Xi axis an angle of αi ( in the right-
handed sense), to bring the two coordinates into
coincidence.
 Transformation between i-1 and i
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• D-H transformation matrix for adjacent coordinate frames, i

and i-1.
– The position and orientation of the i-th frame coordinate can be
expressed in the (i-1)th frame by the following homogeneous
transformation matrix:

Source coordinate

T i −i 1 = T ( z i − 1 , d i ) R ( z i − 1 , θ i ) T ( x i , a i ) R ( x i , α i )
⎡C θ i − C α iSθ i Sα iSθ i aiC θ i ⎤
Reference ⎢ Sθ C α iC θ i − S α iC θ i a i S θ i ⎥⎥
Coordinate ⎢ i

⎢ 0 Sα i Cα i di ⎥
⎢ ⎥
⎣ 0 0 0 1 ⎦
 Kinematic Equations
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• Forward Kinematics q = (q1 , q2 , L qn )

– Given joint variables
– End-effector position & orientation Y = ( x, y, z , φ ,θ ,ψ )
n
T
• Homogeneous matrix 0
– specifies the location of the ith coordinate frame w.r.t.
the base coordinate system
– chain product of successive coordinate transformation
matrices of Ti −i 1
Position
T = T T KT
0
n 1 2
0 1
n
n −1 vector

Orientation ⎡ R0n P0n ⎤ ⎡n s a P0n ⎤

matrix =⎢ ⎥=⎢ ⎥
⎣0 1 ⎦ ⎣0 0 0 1 ⎦
 Kinematics Equations
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• Other representations
– reference from, tool frame
T tool
ref =B T H 0
ref 0
n tool
n

– Yaw-Pitch-Roll representation for orientation

T = Rz ,φ R y ,θ Rx ,ψ
⎡Cφ − Sφ 0 0 ⎤ ⎡ Cθ 0 Sθ 0⎤ ⎡1 0 0 0⎤
⎢ Sφ Cφ 0 0⎥⎥ ⎢⎢ 0 1 0 0⎥⎥ ⎢ 0 Cψ − Sψ 0⎥⎥
=⎢ ⎢
⎢0 0 1 0 ⎥ ⎢ − Sθ 0 Cθ 0⎥ ⎢ 0 Sψ Cψ 0⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣0 0 0 1⎦ ⎣ 0 0 0 1⎦ ⎣0 0 0 1⎦
 Representing forward kinematics
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• Forward kinematics • Transformation Matrix

⎡θ 1 ⎤ ⎡ px ⎤
⎢θ ⎥ ⎢p ⎥ ⎡nx sx ax px ⎤
⎢ 2⎥ ⎢ y⎥ ⎢n
⎢θ 3 ⎥ ⎢ pz ⎥ sy ay p y ⎥⎥
T = ⎢ y
⎢ ⎥⇒ ⎢ ⎥ ⎢nz sz az pz ⎥
⎢θ 4 ⎥ ⎢φ ⎥ ⎢ ⎥
⎢θ 5 ⎥ ⎢θ ⎥ ⎣0 0 0 1 ⎦
⎢ ⎥ ⎢ ⎥
⎢⎣θ 6 ⎥⎦ ⎢⎣ϕ ⎥⎦
 Representing forward kinematics
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• Yaw-Pitch-Roll representation for orientation

⎡CφCϑ CφSθSψ − SφCψ CφSθCψ + SφSψ px ⎤
⎢ SφCθ SφSθSψ + CφCψ SφSθCψ − CφSψ p y ⎥⎥
T0n = ⎢
⎢ − Sθ CθSψ CθCψ pz ⎥
⎢ ⎥
⎣ 0 0 0 1⎦
⎡ nx sx ax px ⎤ θ = sin (−nz )
−1

⎢n p y ⎥⎥ az
T0n = ⎢ y
sy ay
ψ = cos ( −1
)
⎢ nz sz az pz ⎥ cos θ
⎢ ⎥ nx
⎣0 0 0 1⎦ φ = cos (
−1
)
cos θ
Problem? Solution is inconsistent and ill-conditioned!!
 atan2(y,x)
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⎧ 0o ≤ θ ≤ 90o for + x and + y

⎪
⎪ 90 ≤ θ ≤ 180 for − x and + y
o o
θ = a tan 2( y, x) = ⎨
⎪ − 180 o
≤ θ ≤ − 90 o
for − x and − y
⎪⎩ − 90o ≤ θ ≤ 0o for + x and − y
 Yaw-Pitch-Roll Representation
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T = Rz ,φ R y ,θ Rx ,ψ
⎡Cφ − Sφ 0 0 ⎤ ⎡ Cθ 0 Sθ 0⎤ ⎡1 0 0 0⎤
⎢ Sφ Cφ 0 0⎥⎥ ⎢⎢ 0 1 0 0⎥⎥ ⎢ 0 Cψ − Sψ 0⎥⎥
=⎢ ⎢
⎢0 0 1 0 ⎥ ⎢ − Sθ 0 Cθ 0⎥ ⎢ 0 Sψ Cψ 0⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣0 0 0 1⎦ ⎣ 0 0 0 1⎦ ⎣0 0 0 1⎦
⎡nx sx ax 0⎤
⎢n sy ay 0 ⎥⎥
= ⎢ y
⎢nz sz az 0⎥
⎢ ⎥
⎣0 0 0 1⎦
 Yaw-Pitch-Roll Representation
−1
Rz ,φ T = R y ,θ Rx ,ψ
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⎡ Cφ Sφ 0 0⎤ ⎡ n x sx ax 0⎤
⎢− Sφ 0 0⎥⎥ ⎢ n y
⎢ Cφ
⎢ sy ay 0 ⎥⎥
⎢ 0 0 1 0⎥ ⎢ n z sz az 0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 1⎦ ⎣ 0 0 0 1⎦
(Equation A)

⎡ Cθ 0 Sθ 0⎤ ⎡1 0 0 0⎤
⎢ 0 ⎢ 0 Cψ 0⎥⎥
1 0 0⎥⎥ ⎢ − Sψ
=⎢
⎢− Sθ 0 Cθ 0⎥ ⎢0 Sψ Cψ 0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 1⎦ ⎣0 0 0 1⎦
 Yaw-Pitch-Roll Representation
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• Compare LHS and RHS of Equation A, we have:

− sin φ ⋅ nx + cos φ ⋅ n y = 0 φ = a tan 2(n y , nx )

⎧cos φ ⋅ nx + sin φ ⋅ n y = cos θ

⎨
⎩ nz = − sin θ θ = a tan 2(−nz , cos φ ⋅ nz + sin φ ⋅ n y )

⎧ − sin φ ⋅ s x + cos φ ⋅ s y = cosψ

⎨
⎩− sin φ ⋅ a x + cos φ ⋅ a y = − sinψ

ψ = a tan 2(sin φ ⋅ a x − cos φ ⋅ a y ,− sin φ ⋅ s x + cos φ ⋅ s y )

 Kinematic Model
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• Steps to derive kinematics model:

– Assign D-H coordinates frames
– Find link parameters
– Transformation matrices of adjacent joints
– Calculate Kinematics Matrix
– When necessary, Euler angle representation
 Example
Z3
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Z0 Z1
Joint 3
Y0 Z O3 X3
Y1 2

d2
Joint 1
O0 X0 O1 X1 O2 X2
Joint 2
Y2

a0 a1
Joint i αi ai di θi
1 0 a0 0 θ0

2 -90 a1 0 θ1

3 0 0 d2 θ2
 Example
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Joint i αi ai di θi ⎡cosθ 0 − sinθ 0 0 a0 cos θ 0 ⎤

⎢ sinθ cosθ 0 0 a0 sin θ 0 ⎥⎥
1 0 a0 0 θ0 T 01= ⎢ 0

⎢ 0 0 1 0 ⎥
2 -90 a1 0 θ1 ⎢ ⎥
⎣ 0 0 0 1 ⎦

3 0 0 d2 θ2 ⎡cosθ1 0 − sin θ1 a1 cos θ1 ⎤

⎢ cos θ1 a1 sin θ1 ⎥⎥
2 ⎢ sinθ1 0
T 1=
⎢ 0 −1 0 0 ⎥
⎡C θ i − C α iSθ i Sα iSθ i aiC θ i ⎤ ⎢ ⎥
⎢ Sθ C α iC θ i − S α iC θ i a i S θ i ⎥⎥ ⎣ 0 0 0 1 ⎦
T i
i −1 = ⎢ i

⎢ 0 Sα i Cα i di ⎥
⎢ ⎥ − sinθ 2
⎣ 0 0 0 1 ⎦ ⎡cosθ 2 00⎤
⎢sin θ cos θ 2 00 ⎥⎥
T 23= ⎢ 2

T03 = (T 01)(T 21)(T 23) ⎢ 0 0 1 d2 ⎥

⎢ ⎥
⎣ 0 0 0 1⎦
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Example: Puma 560

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Example: Puma 560

 Link Coordinate Parameters
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PUMA 560 robot arm link coordinate parameters

Joint i θi αi ai(mm) di(mm)
1 θ1 -90 0 0
2 θ2 0 431.8 149.09
3 θ3 90 -20.32 0
4 θ4 -90 0 433.07
5 θ5 90 0 0
6 θ6 0 0 56.25
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Example: Puma 560

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Example: Puma 560

 Inverse Kinematics
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• Given a desired position (P)

& orientation (R) of the end-
effector z

q = (q1 , q2 , L qn )
y
• Find the joint variables
which can bring the robot
the desired configuration x
 Inverse Kinematics
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• More difficult
– Systematic closed-form (x , y)
l2
solution in general is not
available l2
l1
– Solution not unique
• Redundant robot

l1
• Elbow-up/elbow-down
configuration
– Robot dependent
 Inverse Kinematics
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• Transformation Matrix ⎡θ1 ⎤

⎢θ ⎥
⎡ nx sx ax px ⎤ ⎢ 2⎥
⎢n sy ay p y ⎥⎥ ⎢θ 3 ⎥
T =⎢ y = T01T12T23T34T45T56 ⎢ ⎥
⎢ nz
⎢
sz az pz ⎥
⎥ ⎢θ 4 ⎥
⎣0 0 0 1⎦ ⎢θ 5 ⎥
⎢ ⎥
⎢⎣θ 6 ⎥⎦
Special cases make the closed-form arm solution possible:
1. Three adjacent joint axes intersecting (PUMA, Stanford)
2. Three adjacent joint axes parallel to one another (MINIMOVER)
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Study Chapter 3: Inverse Kinematics

Practice Worked Examples

Prepare questions to ask during tutorial next week !!!

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xz
y
z

x
x
z
y

x
y
Thank you!