Robotics

Chapter 1: Spatial Descriptions & Transformations

Instructor: Dr. Dang Xuan Ba

Email : badx@hcmute.edu.vn
Fundamental terms (Các thành phần cơ bản )defined in robotics

Examples
Links
Joints
Coordinate systems or frames {B}, {J1},…, {EE}

Joint-based state variables Joint angle, velocity…

Joint-based control signals Joint torque…

Link parameters Link length, offset..

End-effector-based state variables Cartesian position,

velocity…
End-effector-based control signals EE force, torque…

Fig. C1.1.1: A typical robot configuration

Instructor: Dr. Dang Xuan ba 2

Content

1.1 Descriptions: Positions, Orientations, and Frames (Biểu diễn vị trí, hướng, và
các hệ trục tọa độ)

1.2 Mappings: Changing Descriptions from Frame to Frame (Biểu diển chuyển
đổi giữa 2 hệ trục tọa độ)

1.3 Applications of rotation matrix (Các ứng dụng của ma trận xoay)

1.4 Examples

Instructor: Dr. Dang Xuan ba 3

1.1 Descriptions: Positions, Orientations, and Frames

Instructor: Dr. Dang Xuan ba 4

Fundamental terms (Các thành phần cơ bản )defined in robotics

Examples
Links
Joints
Coordinate systems or frames {B}, {J1},…, {EE}

Joint-based state variables Joint angle, velocity…

Joint-based control signals Joint torque…

Link parameters Link length, offset..

End-effector-based state variables Cartesian position,

velocity…
End-effector-based control signals EE force, torque…

Fig. C1.1.1: A typical robot configuration

Instructor: Dr. Dang Xuan ba 5

Description of a position (Biểu diễn vị trí)
Examples:

Fig. C1. 1.2: Vector relative to frame (example) Fig. C1. 1.3: A drawing robot (example 1) Fig. C1. 1.4: A assembling robot (example 2)

Ex1: Drawing robot Ex2: Assembling robot

Coordinate frame {A}
In some special tasks, we should care about orientation of the end-effector
Position vector: of the robot.

Instructor: Dr. Dang Xuan ba 6

Description of orientation (Biểu diễn hướng)

Fig. C1. 1.5: Locating an object in position and orientation

A reference coord. frame {A}

A body fixed coord. Frame {B}

To express a relationship between the frame {B} w.r.t the frame {A}, we consider a definition “Rotation matrix”.

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Rotation matrix (Ma trận xoay)

{A}  {B} How to calculate THIS MATRIX?

An
yc

=
on
ne
cti
n?o

{B}  {A}

Special property:

Rotation matrix is ‘orthogonal matrix’.

(Ma trận trực giao, trực chuẩn)
Its characteristics will be explored in
the higher-level classes.
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Rotation matrix/ An example

Fig. C1. 1. 6: An example of orientation of two coord frames

and

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Description of a body-attached frame (Biểu diễn một hệ trục tọa độ)

Description of a position

+ Description of a frame

Description of orientation

We need a more concise and general way

Fig. C1. 1. 1: A typical robot configuration
to present the frame relationship

Fig. C1. 1. 7: An example of several frames

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1.2 Mappings: Changing Descriptions from Frame to Frame

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Translational mapping (Chuyển đổi tịnh tiến)

Fig. C1. 2. 1: Translational mapping

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Rotational mapping ( Chuyển đổi chuyển động xoay)

Fig. C1. 2. 2: Rotational mapping

(two coincident origins)

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Rotational mapping/ An example

Fig. C1. 2. 3: {B} rotated 30 degrees about z axis

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Mapping involving general frames (Chuyển đổi giữa các hệ trục tọa độ tổng quát)

Fig. C1. 2. 4: General transform of a vector

Homogeneous transformation

(Ma trận chuyển đổi đồng nhất)

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Mapping involving general frames/ An example

(3,7)

(30 deg)

(10,5)

(0,0)
Fig. C1. 2. 5: Frame {B} rotated and translated.

Instructor: Dr. Dang Xuan ba 16

Compound transformation (Chuyển đổi hợp nhất)

and transformations ?

Fig. C1. 2. 6: Compound frames: each is known

relative to previous

An alternative way:

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Transformation equation

Fig. C1. 2. 7: A set of transforms forming a loop

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Inverting Transformation (Nghịch đảo của chuyển đổi đồng nhất)

Định nghĩa

A simple way:

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Inverting Transformation/ An example

30 deg

(4,3)

Fig. C1. 2. 8: {B} relative to {A}

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Mapping involving general frames - Summarization

Fig. C1. 2. 9: General transform of a vector

Homogeneous transformation

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1.3 Applications of rotation matrix

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Mapping involving general frames - Recall

Homogeneous transformation
Fig. C1. 3. 1: General transform of a vector

Problem: given a reference frame {A}, find a proper rotation method to reach the frame {B}

Rotation with Euler angles!!!

Instructor: Dr. Dang Xuan ba 23

Rotation with Euler angles

Key idea: The rotation axis is one of the axes of the moving frame {B}.

Z-Y-X Euler angles:

1. Start with the frame coincident with a reference frame {A}.

2. Rotate {B} about by an angle → {B’}

3. Rotate {B’} about by an angle → {B’’}

4. Rotate {B’’} about by an angle → {B’’’}

Fig. C1. 3. 2: Z-Y-X Euler angles

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Rotation with Euler angles

Key idea: The rotation axis is one of the axes of the moving frame {B}.

Z-Y-X Euler angles:

(Roll, pitch, yaw)

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Rotation with Euler angles

Key idea: The rotation axis is one of the axes of the moving frame {B}.

Z-Y-Z Euler angles:

1. Start with the frame coincident with a reference frame {A}.

2. Rotate {A} about by an angle → {B’}

3. Rotate {B’} about by an angle → {B’’}

4. Rotate {B’’} about by an angle → {B’’’}

Instructor: Dr. Dang Xuan ba 26

Rotation with Euler angles - Comments

Key idea: The rotation axis is one of the axes of the moving frame {B}.

Z-Y-X Euler angles X-Z-X Euler angles

Z-Y-Z Euler angles X-Z-Y Euler angles

Z-X-Y Euler angles Y-X-Y Euler angles

Need 3 rotation times with 3 angles!

Z-X-Z Euler angles Y-X-Z Euler angles

Is there any simpler way??

X-Y-X Euler angles Y-Z-X Euler angles

X-Y-Z Euler angles Y-Z-Y Euler angles

12 Euler-rotation methods

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Equivalent Angle-Axis representation

Key idea: The rotation axis is a general vector.

Fig. C1. 3. 2: Z-Y-X Euler angles

The intensive study on this method will be performed in higher-level courses!

Instructor: Dr. Dang Xuan ba 28

Euler parameters - Quaternion

Key idea: Sometimes, we only need to know the rotation of a vector about a general vector by a given angle.
Given
Unit vector
Rotation by about ,
Find in terms of

Fig. C1. 3. 3: Euler parameters

Euler parameters

The intensive study on this method will be performed in higher-level courses!

Instructor: Dr. Dang Xuan ba 29
Inverse Problem

Problem: Given a rotation matrix of two frames, find the rotation angles.

Z-Y-X Euler angles:

(Roll, pitch, yaw)?

Fig. C1. 3. 4: Z-Y-X Euler angles

Instructor: Dr. Dang Xuan ba 30

Computational consideration

Motivation: Investigate the computational burden of the rotational operator

(3 muls + 2 adds) x 9 = 27 muls + 18 adds

(3 muls + 2 adds) x 9 = 27 muls + 18 adds

(3 muls + 2 adds) x 3 = 9 muls + 6 adds (3 muls + 2 adds) x 3 x 3 = 27 muls + 18 adds

63 muls + 42 adds

Which one would be better? It depends on working conditions.

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1.4 Examples

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Example 1

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Example 2

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Example 3

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Example 4

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Example 5

Fig. C1. 3. 5: A simple robot

1) Find

2) Using Matlab, plot the feasible range of w.r.t

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Homework
Given the 3DOF robot as depicted in Fig. C1. 3. 6: d3 EE
1) Find 3

2) Using Matlab, plot the feasible range of w.r.t

d2

2

1
d1

(Note: only using the content of Chapter 1)

{0}

Fig. C1. 3. 6: A simple robot

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End of Chapter 1

Instructor: Dr. Dang Xuan ba 39