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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


lecture6-7_new  

In this lecture, you will learn: - More on Rotation Matrices - Principal axis theorem - Singularities - Types of robot joints - Classical ki...

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