Kinematics:
Workspace :
Trajectory:
A systematic way to develop the
4x4 matrix T(q),
from Introduction to Robotics, J.J. Craig
Link i-1
Axis i-1
Axis i
There generally exists a line that connects,
and is perpendicular to, both axes of rotation
of a given member.
Call the unique length for member
i-1 “ai-1”
Zi-1 axis is defined to pass
through the i-1 axis.
Xi-1 axis is aligned with the
length that defines ai-1.
Yi-1 completes the right-
handed coordinate system
for member i-1.
Unless i-1=n, (i-1 is the last
link or member) another
unique axis ai can be defined.
di joins ai as a second length
parameter for the ith link.
di joins ai as a second length
parameter for the ith link.
The Xi Yi Zi axes are defined
according to the previous
scheme.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Four parameters characterize
each link: For revolute joints,
three are constant and one is
variable.
Example: Forward kinematics
for a 3DOF robot
Example: Forward kinematics for a
3DOF robot