HARAMAYA INSTITUTE OF TECHNOLOGY

School of Electrical and Computer Engineering

KINEMATICS OF ROBOTS

April, 2023
Kinematics, what is?

2


3
 Kinematics

Forward Inverse
Kinematics Kinematics

4



6
Example 1: Given the joint angles and length of the links,
what is the position and orientation of the end effector?

a2

q2

a1

q1
 Choose the base coordinate frame of the robot.
• we want (x, y) to be expressed in this frame.

(x, y) ?

a2

q2
y0

a1

q1
x0

8
 Notice that link 1 moves in a circle centered on the base
frame origin.

(x, y) ?
y1
a2

q2
y0
q1
a1 x1

q1 ( a1 cos q1 , a1 sin q1 )
x0

9
 Choose a coordinate frame with origin located on joint 2
with the same orientation as the base frame.

(x, y) ?
y1
a2

q2
y0
q1
a1 x1

q1 ( a1 cos q1 , a1 sin q1 )
x0
 Notice that link 2 moves in a circle centered on frame 1.

(x, y) ?
y1
a2
( a2 cos (q1 + q2),
q2 a2 sin (q1 + q2) )
y0
q1
a1 x1

q1
( a1 cos q1 , a1 sin q1 )
x0

11
 Because the base frame and frame 1 have the same
orientation, we can sum the coordinates to find the
position of the end effector in the base frame.

(a1 cos q1 + a2 cos (q1 + q2),

y1
a2
( a2 cos (q1 + q2),
q2 a2 sin (q1 + q2) )
y0
q1
a1 x1

q1
( a1 cos q1 , a1 sin q1 )
x0

12
Example 2: Given the joint variables and dimensions of the
three link manipulator, what is the position and
orientation of the end effector?

13
 We can relate the end-effecter coordinates to the joint
angles determined by the three actuators by using the
link lengths and joint angles defined above:

 This end-effecter orientation ∅𝑒 is related to the actuator

14


15


𝑥𝑒 𝑦𝑒 𝜃1 𝜃2

16
Two dof planar robot with two revolute joints

17


18
 𝑥𝑒 , 𝑦𝑒 𝜃1 𝜃2

Differential
Where, Motion of Joint

Jacobian
Differential
Motion of end
effectors

and J is a 2 by 2 matrix given by:

19
 𝑥𝑒 (𝜃1 ,

𝜃2 ) 𝑦𝑒 (𝜃1 , 𝜃2 ) 𝜃1 𝜃2

The Jacobian matrix are computed as:

20


𝐕𝐞 = joint velocity

21