ROBOTICS

Gaziantep University 1
 Example
• Consider RR planar manipulator shown in the figure. Complete
the coordinate frames based on D-H representation

xE,yE

l2 

l1
O 

Gaziantep University 2
 Example
– Locate the origin of the ith coordinate at the intersection of the Zi & Zi-1 or at the
intersection of common normal between the Zi & Zi-1 axes and the Zi axis.
– the Xi axis lies along the common normal from the Zi-1 axis to the Zi axis
X i  (Zi 1  Zi ) / Zi 1  Zi , (if Zi-1 is parallel to Zi, then Xi is specified arbitrarily,
subject only to Xi being perpendicular to Zi);
x2
y1

xE,yE
y1
z2
l2  x1

y0

z1
l1
O 
x0
z0
Gaziantep University 3
 Example
x2
y2

xE,yE
D-H Link Parameter Table
y1
z2 Joint i i ai di i
l2  x1

y0
1
0 l1 0 1
l1
2
0 l2 0 2
z1
O 
x0
z0
 i : rotation angle from Zi-1 to Zi about Xi
ai : distance from intersection of Zi-1 & Xi
to origin of i coordinate along Xi
d i : distance from origin of (i-1) coordinate to intersection of Zi-1 & Xi along Zi-1
i : rotation angle from Xi-1 to Xi about Zi-1 4
Gaziantep University
 x
2
Example
y1 D-H Link Parameter Table
xE,yE Joint i i ai di i

1
y1 1
z2 0 l1 0
l2  x1 2
0 l2 0 2
y0

z1
l1 c1  s1 0 l1c1 
O  s c1 0 l1s1 

T01   1
x0
T02  (T 01)(T 21)  0 0 1 0 
 
 0 0 0 1 
C i  C i S i S i S i ai C i 
 S c 2  s 2 0 l2 c 2 
C i C i  S i C i ai S i   s
Ti i 1  i
S i C i
c 2 0 l2 s 2 
 0 di  T12   2
   0 0 1 0 
 0 0 0 1 
 
 0 0 0 1 
Gaziantep University 5
 x
2
Example
y1

xE,yE c1  s1 0 l1c1  c 2  s 2 0 l2 c 2 

y1  s c1 0 l1s1   s 2 c 2 0 l2 s 2 
z2
l2  x1 T02   1
 0 0 1 0  0 0 1 0 
  
y0  0 0 0 1  0 0 0 1 

z1
l1
O 
x0

c1c 2  s1s 2  c1s 2  s1c 2 0 l2c1c 2  l2 s1s 2  l1c1 

c s  s c  s1s 2  c1c 2 0 l2 s1c 2  l2 c1s 2  l1s1 
T02   1 2 1 2

 0 0 1 0 
 
 0 0 0 1 

Gaziantep University 6
 x
2
Example
y1

xE,yE c1  s1 0 l1c1  c 2  s 2 0 l2 c 2 

y1  s c1 0 l1s1   s 2 c 2 0 l2 s 2 
z2
l2  x1 T02   1
 0 0 1 0  0 0 1 0 
  
y0  0 0 0 1  0 0 0 1 

z1
l1
O 
x0

cos(1   2 )  sin(1   2 ) 0 l2 cos(1   2 )  l1 cos 1 

 sin(   ) cos(   ) 0 l2 sin(1   2 )  l1 sin 1 
T02   1 2 1 2

 0 0 1 0 
 
 0 0 0 1 

Gaziantep University 7
 Example
cos(1   2 )  sin(1   2 ) 0 l2 cos(1   2 )  l1 cos 1 
xE,yE  sin(   ) cos(   ) 0 l2 sin(1   2 )  l1 sin 1 
T02   1 2 1 2
yE  0 0 1 0 
l2   
 0 0 0 1 
y0 xE  l1 cos 1  l2 cos(1   2 )
l1
z1 yE  l1 sin 1  l2 sin(1   2 )
O 
x0
xE

Gaziantep University 8
 Example
• Consider RRP spatial manipulator shown in the figure. Complete
the coordinate frames based on D-H representation

z3

z1
z2
d3
2
l2

l1
zo
1 yo

xo
Oo

Base

Gaziantep University 9
 Link Coordinate Frames
– Locate the origin of the ith coordinate at the intersection of the Zi & Zi-1 or at the
intersection of common normal between the Zi & Zi-1 axes and the Zi axis.
– the Xi axis lies along the common normal from the Zi-1 axis to the Zi axis
X i  (Zi 1  Zi ) / Zi 1  Zi , (if Zi-1 is parallel to Zi, then Xi is specified arbitrarily,
subject only to Xi being perpendicular to Zi);

z3

z1 x3
z2
d3
2
x1 l2 x2

l1
zo
1 yo

xo
Oo

Base

Gaziantep University 10
 Link Coordinate Frames
– Assign Yi  (Zi  X i ) / Zi  X i to complete the right-
handed coordinate system.

z3

z1 x3
z2
d3
y3
2
x1 l2 x2
y1
y2
l1
zo
1 yo

xo
Oo

Base

Gaziantep University 11
 Example
z3

z1 x3
z2
d3
y3
2
x1 l2 x2
y1
y2
l1 D-H Link Parameter Table
zo
1 yo
Joint i i ai di i

 90 0 l1 1
1 *
xo
Oo

0 l2 0  2
2 *
 i : rotation angle from Zi-1 to Zi about Xi
Base
3
ai : distance from intersection of Zi-1 & Xi 0 0 d 3* 0
to origin of i coordinate along Xi
di : distance from origin of (i-1) coordinate to intersection of Zi-1 & Xi along Zi-1
i : rotation angle from Xi-1 to Xi about Zi-1

Gaziantep University 12
 Example
Joint i i ai di i c 1 0  s 1 0
1 -90 0 l1 1  s 0 c 1 0 
T01   1
 0 1 0 l1 
2 0 l2 0 2  
 0 0 0 1
3 0 0 d3 0
c 2  s 2 0 l 2 c 2 
 s c 2 0 l 2 s 2 
T12   2
C i  C i S i S i S i ai C i   0 0 1 0 
 S  
C i C i  S i C i ai S i   0 0 0 1 
Ti i 1  i
 0 S i C i di 
  1 0 0 0
 0 0 0 1  0 1 0 0 
T2  
3

T03  (T 01)(T 21)(T 23) 0 0 1 d3 

 
0 0 0 1

Gaziantep University 13
 Example
c 1 0  s 1 0 c 2  s 2 0 l 2 c 2  1 0 0 0
T03  T01 T12 T23   s 1 0 c 1 0   s c 2 0 l 2 s 2  0 1 0 0 
  2 
 0 1 0 l1   0 0 1 0  0 0 1 d3 
     
 0 0 0 1  0 0 0 1  0 0 0 1

c1 0  s1 0  c 2  s 2 0 l2 c 2 

 s 0 c1 0   s c 2 0 l2 s 2 
 1  2
0  1 0 l1   0 0 1 d3 
   
0 0 0 1  0 0 0 1 

c1c 2  c1s 2  s1 l2 c 2 c1  d 3 s1 

 s c  s1s 2 c1 l2 s1c 2  d 3c1 
 1 2
  s 2  c 23 0  l2 s 2  l1 
 
 0 0 0 1 

Gaziantep University 14
 Example
• Consider PPR spatial manipulator shown in the figure. Complete
the coordinate frames based on D-H representation
z3
d2 3

l2 l3

l1

d1

zo
l0 yo

Oo
xo

Base
Gaziantep University 15
 Link Coordinate Frames
– Locate the origin of the ith coordinate at the intersection of the Zi & Zi-1 or at the
intersection of common normal between the Zi & Zi-1 axes and the Zi axis.
– the Xi axis lies along the common normal from the Zi-1 axis to the Zi axis
X i  (Zi 1  Zi ) / Zi 1  Zi , (if Zi-1 is parallel to Zi, then Xi is specified arbitrarily,
subject only to Xi being perpendicular to Zi);

z2 z3
d2 3
x1

l2 l3
x3

z1
l1 x2

d1

zo
l0 yo

Oo
xo
BaseGaziantep University 16
 Link Coordinate Frames
– Assign Yi  (Zi  X i ) / Zi  X i to complete the right-
handed coordinate system.

y1 z2 z3
d2 3 y3
x1

l2 l3
x3

z1 y2
l1 x2

d1

zo
l0 yo

Oo
xo
Base

Gaziantep University 17
 Example
z2 z3
d2 3
x1
l2 l3
x3
z1
l1 x2

D-H Link Parameter Table

d1
Joint i i ai di i
zo
l0 yo
l0  d1 90
1 *
Oo
xo
90 0
 i : rotationBaseangle from Zi-1 to Zi about Xi 2 *
90 0 d 2 180
ai : distance from intersection of Zi-1 & Xi 3 0 l3 0 *
to origin of i coordinate along Xi
di : distance from origin of (i-1) coordinate to intersection of Zi-1 & Xi along Zi-1
i : rotation angle from Xi-1 to Xi about Zi-1

Gaziantep University 18
 Example
Joint i i ai di i 0 0 1 0 
1 90 0 L0 +d1 90 1 0 0 0 
T01  
2 90 0 d2 180
0 1 0 l0  d1 
 
0 0 0 1 
3 0 l3 0 3
 1 0 0 0
0 0 1 0 
T12  
C i  C i S i S i S i ai C i  0 1 0 d 2
 S  
C i C i  S i C i ai S i  0 0 0 1
Ti i 1  i
 0 S i C i di 
  C  S 0 l3C 
 0 0 0 1 
 S C 0 l3 S 
T2  
3

T03  (T 01)(T 21)(T 23)  0 0 1 0 

 
 0 0 0 1 

Gaziantep University 19
 Example
0 0 1 0   1 0 0 0  C  S 0 l3C 
1 0   0
T03  T01 T12 T23   0 0
 0 1 0   S C 0 l3 S 
0 1 0 l0  d1   0 1 0 d 2  0 0 1 0 
   0 
0 0 0 1 0 0 0 1  0 0 1 

 S 3 C 3 0 d 2  l3 S 3 
 C s 0 l3c 3 
 3 3

 0 0 1 d1  l0 
 
 0 0 0 1 

Gaziantep University 20