This is a lecture for robotics class on kinematics

1. 1

2. Studies the motion of a body, or a system of bodies,
without considering its mass or the forces acting on
it
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3. A robot arm, more formally a serial-link
manipulator, comprises a chain of rigid links
and joints
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4. 4

5. Revolute: the attached links rotate about a
common axis.
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6. Prismatic: the attached links translate about a
common axis
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7. Spherical: the attached links rotate about a
point
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8. Each joint has one degree of freedom, either
translational (a sliding or prismatic joint) or
rotational (a revolute joint).
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9. Robot’s configuration: a specification of the
positions of all points of the robot.
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10. described by one of two methods:
1. A list of coordinatesfor each joint (typically an angle
or translation distance) expressed relative to some
reference frame,aka zero position.
2. A spatial representation of its links in the 2D or 3D
world in which it operates
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11. The 2D or 3D world in which the robot lives is
known as its workspace
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12. the smallest number n of real-valued
coordinates needed to represent the
robot’s configuration
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13. x
y
q1
What is the workspace of this robot?
How many dof does this robot have?
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14. x
y
q1
Pose of the end effector
R(q1) Tx(a1)
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15. q2
x
y
q1
R(q1) Tx(a1) R(q2) Tx(a2)
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Pose of the end effector

16. 16
y
x
z
PhantomX Pincher Robot

17. Given a set of joint positions q, what is the pose of
the robot tool-tip x?
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18. 18
q2
x
y
q1

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