Lectures 6-7: Manipulator Kinematics In this lecture, you will learn: - More on Rotation Matrices - Principal axis theorem - Singularities - Types of robot joints - Classical kinematics using DH parameter notation - Examples Dan O. Popa, Robotics EE5325, Fall 2008
Geometric Aspects • Screws and Twists • Rigid body motion • Roll-Pitch-Yaw parametrization
Dan O. Popa, Robotics EE5325, Fall 2008
Geometric Aspects - ZYX Euler angles
- ZYZ Euler angles
Dan O. Popa, Robotics EE5325, Fall 2008
Singularities
Dan O. Popa, Robotics EE5325, Fall 2008
Example: Rotation of a cube along a principal axis
Dan O. Popa, Robotics EE5325, Fall 2008
Types of Joints
Dan O. Popa, Robotics EE5325, Fall 2008
Manipulator Kinematics using the DH notation
Dan O. Popa, Robotics EE5325, Fall 2008
Example: PUMA 560
Dan O. Popa, Robotics EE5325, Fall 2008
Example: PUMA 560
Dan O. Popa, Robotics EE5325, Fall 2008
Example: PUMA 560 R p T = = 0 1 r11 r12 r13 r r22 r23 21 = r31 r32 r33 0 0 0
0 6
Dan O. Popa, Robotics EE5325, Fall 2008
px p y pz 1
Manipulator Kinematics based on DH notation Reading: Chapter 3 - J.J. Craig Appendix 2 - F. Lewis
Dan O. Popa, Robotics EE5325, Fall 2008