Contents

 Historical Perspective
 Robot Definitions
 Basic Fundamentals of Robots
 Types of Kinematics
 Transformations
 Geometric Interpretation of Rotation Matrix
 Inverse transformations
 Homogeneous transformations
 Inverse Homogeneous transformations
 Inverse Kinematics of a Two Link Manipulator
 Important Terminology
 References
Historical Perspective
• The word robot was first used in 1921 by Czech playwright
Karel Capek in his satirical drama titled Rossum’s Universal
Robots
– Derived from Czech word robota which literally means
‘forced labour’.

• The term robotics was coined by American author and

professor of biochemistry at Boston University, Isaac
Asimov in his short story titled Runaround.
 Robot Definitions
• Webster dictionary
– An automatic apparatus or device
that performs functions ordinarily
ascribed to humans or operates with
what appears to be almost human
intelligence
• Robotic Institute of America (RIA)
– A robot is a reprogrammable,
multifunctional manipulator
designed to move material, parts,
tools or specialized devices through
variable programmed motions for
the performance of a variety of
tasks.
Basic Components of a Robot System
• Manipulator
– Series of rigid members, called links, connected by joints.
• Actuators
– Provide power to the manipulator.
• Sensory Devices
– To monitor position, speed, acceleration, torque etc.
• Controller
– Provides the intelligence to make the manipulator perform
in a certain manner.
• Power Conversion Unit
– Takes signal from controller and converts it into meaningful
power level so that actuators can move.
Robot Configurations
• Cartesian (3P)
– Three Degrees of freedom (DOF) are linear & at right angles
to each other.
– Rectangular Workspace.
• Cylindrical (R2P)
– Two DOFs are linear and one DOF is rotational.
– Cylindrical Workspace.
• Spherical (2RP)
– One DOF is linear and two DOFs are rotational.
– Spherical Workspace.
• Articulated (3R)
– All three DOFs are rotational.
– Irregular Workspace.
Contd..
Types of Joints

Joints Motions Degree of Freedom

Revolute joint Rotary motion One

Prismatic joint Sliding motion One

Cylindrical joint One sliding & one rotary motion Two

Planar joint Two sliding & one rotary motion Three

Screw pair One translatory & one rotary motion Two

Spherical joint Three rotary motion three

Types of Kinematics
 Transformation
The transformation matrix is 4X4 matrix which consists of sub-
matrices :
 Rotation Matrix
 Translation or Position Vector
 Perspective Transformation
 Scaling/ Stretching
Geometric Interpretation of Rotation Matrix
• Rotation about X-axis

• Rotation about Y-axis

• Rotation about Z-axis

Inverse transformations
Problem
Example : A mobile body reference frame OABC is rotated 60 about OY-
axis of the fixed base reference system OXYZ. If pxyz  (2,4,6) and are
T

qxyz  (3,5,7)T the coordinates with respect to OXYZ plane, what are the
corresponding coordinates of p and q with respect to OABC frame.
 Homogeneous Transformations

Components of Homogeneous Transformations

Contd..
Problem
Example: Determine the homogeneous transformation
matrix to represent the following sequence of
operations.

a) Rotation of 3 about OX-axis
b) Translation of 4 units along OX-axis
c) Translation of -6 units along OC-axis

d) Rotation of 6 about OB-axis
Inverse Homogeneous Transformation

 cos sin  0  ( p x cos  p y sin  ) 

 sin  cos 0  ( p x sin   p y cos )
H ( z, )  
1
 0 0 1  pz 
 
 0 0 0 1 
Inverse Kinematics of a One Link Manipulator

1 y
(x , y) (i) θ  tan ( )
x

S
1
(ii) S  (x2  y 2 )
X

Revolute and Prismatic

Joints Combined
 Inverse Kinematics of a Two Link Manipulator
(x , y)

2 (x , y)
l2

1 l1

Given: l1, l2 , x , y
Find: 1, 2
Redundancy:
A unique solution to this problem does not exist. Notice,
that using the “givens” two solutions are possible.
Sometimes no solution is possible.
 The Algebraic Solution
c1  cosθ1
c1 2  cos(θ 2  θ1 )
(i ) x  l1 c1  l2 c1 2
(ii) y  l1 s1  l2 sin 1 2
(iii) θ  θ1  θ 2

(1)2  (2) 2  x 2  y 2 
 2 2
 
 l1 c1  l2 (c1 2 ) 2  2l1l2 c1 (c1 2 )  l1 s1  l2 (sin1 2 ) 2  2l1l2 s1 (sin1 2 )
2 2 2 2

 l1  l2  2l1l2 c1 (c1 2 )  s1 (sin1 2 ) 
2 2

 l1  l2  2l1l2 c 2
2 2 Only
Unknown
 x 2
 y 2
 l
2
 l
2

 θ 2  cos 
1 1 2 

 2 l1l 2 
 x  l1 c1  l2 c1 2
 l1 c1  l2 c1c 2  l2 s1s2
 c1 (l1  l2 c 2 )  s1 (l2 s2 )
We know what 2 is from the
y  l1 s1  l2 sin 1 2 previous slide. We need to solve for
1 . Now we have two equations and
 l1 s1  l2 s1c 2  l2 s 2 c1 two unknowns (sin 1 and cos 1 )
 c1 (l2 s 2 )  s1 (l1  l2 c 2 )
x  s1 (l2 s2 )
c1  (Substituting for c1 and simplifying
(l1  l2 c 2 )
many times)
x  s1 (l2 s2 )
y (l2 s 2 )  s1 (l1  l2 c 2 )
(l1  l2 c 2 )


1
(l1  l2 c 2 )

x l2 s2  s1 (l1  l2  2l1l2 c 2 )
2 2

(This is the law of cosines and can be
replaced by x2+ y2)

1  y(l1  l2 c 2 )  x l2 s2 
y(l1  l2 c 2 )  x l2 s2 θ1  sin  
s1    x y
2 2

x y
2 2
 The Geometric Solution Using the Law of Cosines:
(x , y) c 2  a 2  b 2  2ab cosC
2
l2
( x 2  y 2 )  l1  l2  2l1l2 cos(180  θ 2 )
2 2

cos(180  θ 2 )   cos(θ 2 )
x 2  y 2  l1  l2
2 2
l1
 cos(θ 2 ) 
2l1l2
1
 x 2
 y 2
 l
2
 l
2

1
θ 2  cos   1 2 
Using the Law of Sines: 
 2l1l2 
sin B sin C Redundant since 2 could be in the

b c first or fourth quadrant.
sin θ1 sin(180  θ 2 ) sin(θ 2 ) Redundancy caused since 2 has two
 
l2 x 2  y2 x 2  y2 possible values
θ1  θ1  α  l sin(θ )   y
y
θ1  sin  2
1 2 
 tan 1 2 
α  tan 1 2   x 2  y2  x
x  
Important Terminology
Degeneracy :
The robot looses a degree of freedom and thus cannot
perform as desired.

‫ ٭‬When the robot’s joints reach their physical limits, and as a

result, cannot move any further.
‫ ٭‬In the middle point of its workspace if the z-axes of two similar
joints becomes collinear.

Dexterity :
The volume of points where one can position the robot
as desired, but not orientate it.
Problems
Example 1: Determine the homogeneous transformation matrix to
represent the following sequence of operations.
a) Translation of 4 units along OX-axis

b) Rotation of 3 OX-axis
c) Translation of -6 units along OC-axis
d) Rotation of about 6 OB-axis
References
• Groover, M.P., Emory W. Zimmers JR. “CAD/CAM:Computer-
Aided Design and Manufacturing”. 25. New Delhi: Prentice
Hall of India Private Limited, 2002. 324-332. Print.
• Hegde, Ganesh S. "Robot Motion Analysis." A Textbook on
Industrial Robotics. Second ed. New Delhi: U Science, 2009.
25-114. Print.
• Niku, Saeed B. "Robotic Kinematics : Position
Analysis." Introduction to Robotics: Analysis, Systems,
Applications. 1st ed. New Delhi: PHI Learning Private
Limited, 2009. 29-90. Print.