Module 5: Robot Arm Geometry and Kinematics
1. Introduction to Robot Arm Structures and Configurations
1.1 Robot Arm Types
• Cartesian Robots: Linear joints; move in XYZ axes.
• Cylindrical Robots: Rotational base, prismatic joints.
• Spherical (Polar) Robots: Rotating base and two rotating links.
• SCARA Robots: Selective Compliance Articulated Robot Arm; planar, ideal for
assembly tasks.
• Articulated Robots: Multiple rotary joints (e.g., 6-DOF industrial arms).
• Delta Robots: Parallel-link mechanisms for high-speed pick-and-place.
1.2 Degrees of Freedom (DOF)
• The number of independent parameters that define the robot's configuration.
• Typically, industrial arms have 6 DOF: 3 for position, 3 for orientation.
1.3 Joint Types
• Prismatic Joints (P): Linear displacement.
• Revolute Joints (R): Rotational displacement.
• Configurations often abbreviated as sequences: e.g., RRP, RRR, etc.
2. Geometrical Modeling of Robot Arms
2.1 Coordinate Frames
• Assign a coordinate frame to each link.
• Helps in determining relative position and orientation between joints.
2.2 Homogeneous Transformation Matrix
• Combines rotation and translation into a single matrix:
T=[Rd01]T = \begin{bmatrix} R & d \\ 0 & 1 \end{bmatrix}
where RR is a 3x3 rotation matrix and dd is a 3x1 position vector.
2.3 Composition of Transformations
• Overall transformation from base to end-effector:
T0n=T01T12…Tn−1nT_0^n = T_0^1 T_1^2 \dots T_{n-1}^n
3. Forward and Inverse Kinematics
3.1 Denavit-Hartenberg (DH) Convention
• Standardizes the coordinate frame assignment using 4 parameters:
o θi\theta_i: Joint angle (variable for revolute joint)
o did_i: Joint offset (variable for prismatic joint)
o aia_i: Link length
o αi\alpha_i: Link twist
• Transformation from frame ii to i+1i+1:
Ai=[cosθi−sinθicosαisinθisinαiaicosθisinθicosθicosαi−cosθisin
αiaisinθi0sinαicosαidi0001]A_i = \begin{bmatrix} \cos\theta_i & -
\sin\theta_i\cos\alpha_i & \sin\theta_i\sin\alpha_i & a_i\cos\theta_i \\ \sin\theta_i &
\cos\theta_i\cos\alpha_i & -\cos\theta_i\sin\alpha_i & a_i\sin\theta_i \\ 0 & \sin\alpha_i &
\cos\alpha_i & d_i \\ 0 & 0 & 0 & 1 \end{bmatrix}
3.2 Forward Kinematics (FK)
• Given joint variables, compute position and orientation of end-effector.
• Sequential multiplication of transformation matrices.
3.3 Inverse Kinematics (IK)
• Given desired position and orientation of end-effector, compute joint variables.
• May have multiple, one, or no solutions.
• Analytical methods (closed-form) used when possible; otherwise numerical methods
(e.g., Newton-Raphson, Jacobian inverse) are used.
4. Calculation of Joint Angles for Desired End-Effector Positions
4.1 Solving Inverse Kinematics: General Approach
1. Determine desired end-effector pose (position + orientation).
2. Use the inverse transformation matrix.
3. Solve for joint variables, considering constraints and singularities.
4.2 Example: 2-Link Planar Manipulator
Given:
• Link lengths: L1,L2L_1, L_2
• Desired position: (x,y)(x, y)
Solution:
cosθ2=x2+y2−L12−L222L1L2\cos\theta_2 = \frac{x^2 + y^2 - L_1^2 - L_2^2}{2L_1L_2}
θ2=arccos(⋅),θ1=tan−1(y/x)−tan−1(L2sinθ2L1+L2cosθ2)\theta_2 = \arccos(\cdot),
\quad \theta_1 = \tan^{-1}(y/x) - \tan^{-1}\left(\frac{L_2\sin\theta_2}{L_1 +
L_2\cos\theta_2}\right)
4.3 Redundancy and Constraints
• Redundant robots (>6 DOF) allow for multiple configurations.
• Solutions may be constrained by physical limits (joint range, singularities).
5. Application of Kinematics in Robotic Arm Design
5.1 Workspace Analysis
• Determined via FK over all joint limits.
• Helps in designing arms suitable for specific tasks.
5.2 Trajectory Planning
• Requires smooth transition between points in joint or Cartesian space.
• Must consider velocity and acceleration constraints.
5.3 Singularities
• Occur when the Jacobian matrix loses rank.
• Cause loss of control in certain directions; must be avoided or handled.
5.4 Calibration
• Ensures alignment between the model and physical robot.
• May involve vision systems or external sensors for accuracy.
Summary
• Robot arms are modeled using transformations and DH parameters.
• FK provides a direct map from joint space to task space; IK solves the reverse.
• Mastery of these principles is critical for robot control, motion planning, and design
optimization.
Recommended Exercises
1. Derive FK equations for a 3-DOF planar arm.
2. Solve IK for a 6-DOF articulated robot using geometric methods.
3. Simulate workspace for a SCARA robot.
4. Analyze and visualize singular configurations of a 3R planar manipulator.
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