ECE 5330/6311: Intro to Robotics Class Worksheet – Lecture 1
Name:
1. Define the following terms
Robot (official RIA definition):
Configuration:
Configuration space:
Degrees of freedom:
State:
State space:
reachable workspace:
dexterous workspace:
accuracy:
repeatability:
controller resolution:
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Chapter 2
Forward Kinematics: determine position and orientation of end effector or tool in terms of joint
variables
Location of end effector
𝑥10 = 𝑟1 cos(𝜃1 )
𝑦10 = 𝑟1 sin(𝜃1 )
𝑥20 = 𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2
𝑦20 = 𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2
cos(𝜃1 + 𝜃2 ) − sin(𝜃1 + 𝜃2 )
𝑥2 ∙ 𝑥0 𝑦2 ∙ 𝑥0 ( ) cos(𝜃1 + 𝜃2 )
𝑅20 = [𝑥 ∙ 𝑦 𝑦2 ∙ 𝑦0 ] = [ sin 𝜃1 + 𝜃2 ]
2 0
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Chapter 3: Inverse Kinematics: mathematical process of calculating the variable joint parameters
needed to place the end of a robot manipulator in a given position and orientation relative to the
start of the chain.
Law of cosines: triangle sides a,b,c, and angle
opposite c is 𝜃𝑐 :
𝑐 2 = 𝑎 2 + 𝑏 2 − 2𝑎𝑏 cos (𝜃𝑐 )
𝜃𝑐 = 𝜋 − 𝜃2
cos(𝜃𝑐 ) = cos(𝜋 − 𝜃2 )
cos(𝛼 ± 𝛽 ) = cos(𝛼) cos(𝛽 ) ∓ 𝑠𝑖𝑛(𝛼) sin(𝛽 )
cos(𝜋 − 𝜃2 ) = cos(𝜋) cos (𝜃2 sin(𝜋) sin(𝜃2 )
cos(𝜋 − 𝜃2 ) = −cos (𝜃2 )
𝑥 2 + 𝑦 2 − (𝑟12 + 𝑟22 )
cos(𝜃2 ) = ≔𝐷
2𝑟1 𝑟2
sin(𝜃2 ) = ±√1 − 𝐷2
sin (𝜃 ) ±√1−𝐷2
𝜃2 = tan−1 (cos (𝜃2 )) = tan−1 ( )
2 𝐷
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Chapter 4: Velocity Kinematics
Differentiate kinematic equations:
𝑑 𝑑
𝑥 = (𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡
𝑑 𝑑
𝑦 = (𝑟1 sin(𝜃1 ) + 𝑟2 sin(𝜃1 + 𝜃2 ))
𝑑𝑡 𝑑𝑡
𝑥̇ = −𝑟1 sin(𝜃1 )𝜃̇1 − 𝑟2 sin(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )
𝑦̇ = 𝑟1 cos(𝜃1 )𝜃̇1 + 𝑟2 cos(𝜃1 + 𝜃2 )(𝜃̇1 + 𝜃̇2 )
𝑥 𝜃1
𝐱=[ 𝑦 ], 𝐪 = [𝜃 ]
2
(𝜃1 + 𝜃2 )
−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin
𝐱̇ = [ ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )
𝐽 = Matrix Jacobian
𝐱̇ = 𝐪̇
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Inverse velocity Kinematics
−𝑟 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )
𝐱̇ = [ 1 ] 𝐪̇
+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ) +𝑟2 cos(𝜃1 + 𝜃2 )
𝐱̇ = 𝐽𝐪̇
𝐪̇ = 𝐽−𝟏 𝐱̇
𝑎 𝑏
𝐴=[ ]
𝑐 𝑑
1 𝑑 −𝑏
𝐴−1 = det (𝐴) [ ], where det(𝐴) = 𝑎𝑑 − 𝑏𝑐
−𝑐 𝑎
1 𝑟2 cos(𝜃1 + 𝜃2 ) 𝑟2 sin(𝜃1 + 𝜃2 )
𝐽−𝟏 = 𝑟 [ ]
1 𝑟2 sin (𝜃2 ) −𝑟1 cos(𝜃1 ) − 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 )
Derivation of determinant (you can skip this)
det(𝐽) =(𝑟2 cos(𝜃1 + 𝜃2 ))(−𝑟1 sin(𝜃1 ) − 𝑟2 sin(𝜃1 + 𝜃2 ))
−(−𝑟2 sin(𝜃1 + 𝜃2 ))(+𝑟1 cos(𝜃1 ) + 𝑟2 cos(𝜃1 + 𝜃2 ))
=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) − 𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )
+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) + 𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )
=(−𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) −𝑟2 sin(𝜃1 + 𝜃2 )𝑟2 cos(𝜃1 + 𝜃2 )
+(+𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ) +𝑟2 𝑟2 sin(𝜃1 + 𝜃2 ) cos(𝜃1 + 𝜃2 )
= −𝑟1 sin(𝜃1 ) 𝑟2 cos(𝜃1 + 𝜃2 ) + (𝑟1 cos(𝜃1 ) 𝑟2 sin(𝜃1 + 𝜃2 ), 𝛼 = 𝜃1 + 𝜃2 , 𝛽 = 𝜃1 ,
= 𝑟1 𝑟2 (− sin(𝛽) 𝑟2 cos(𝛼) + cos(𝛽) sin ( 𝛼)),
Property: sin(𝛼 − 𝛽) = sin(𝛼) cos(𝛽) − cos (𝛼)sin (𝛽)
= 𝑟1 𝑟2 (cos(𝛽) sin ( 𝛼) − sin(𝛽) 𝑟2 cos(𝛼)),
= 𝑟1 𝑟2 sin (𝜃2)
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In class assignment:
2. Suppose that the tip of a single link travels a distance d between two points. A linear axis would travel
the distance d while a rotational link would travel through an arc length ℓ𝜃 as shown.
2a. Write the law of cosines for a triangle with sides a,b,c, and side c opposite angle θc,:
2b. Use the law of cosines to determine d.
𝑑 = √2𝑙 2 − 2𝑙 2 cos 𝜃 = 𝑙√2(1 − cos 𝜃)
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ECE 5330/6397: Intro to Robotics, Class Worksheet – Preparation for Lecture 2
3. (10 pts) Use the law of cosines to derive the equation for cos 𝜃2 .
4. (20 pts) Derive inverse equation for the two-link manipulator at right:
𝑟2 sin 𝜃2 α γ
𝜃1 = tan−1(𝑦/𝑥) − tan−1 ( )
𝑟1 + 𝑟2 cos 𝜃2
5. [use a calculator or computer] For the two-link manipulator, suppose 𝑟1 = 5, 𝑟2 = 2.
3 1
• (20 pts) Find coordinates of the tool when 𝜃1 = − 4 𝜋, 𝜃2 = 2 𝜋
• (10 pts) If joint velocities are constant at 𝜃̇1 = 2, 𝜃̇2 = 5, what is the velocity of the tool (symbolically,
leave in terms of 𝜃1 and 𝜃2 )
3 1
• (20 pts) What is the instantaneous tool velocity when 𝜃1 = − 𝜋, 𝜃2 = 𝜋? (evaluate this, two
4 2
scalars)
6. (20 pts) Go to http://demonstrations.wolfram.com/ForwardAndInverseKinematicsForTwoLinkArm/, take
two screenshots of the manipulator in different singular configurations. Attach them to this document
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