JACOBIAN: VELOCITY KINEMATICS

INTRODUCTION
The Jacobian of the robot basically relates the joint
rates to the linear and angular velocity of the end-
effector in attempt to fully understand the mapping
form joint space to Cartesian space and vice-versa.
Forward and inverse kinematics describe the static
relationship between these spaces, but sometimes is
also necessary to understand the differential
relationships.

Jacobian is one of the most important quantities in
robot and some of its advantages are
MANIPULATOR JACOBIAN
The steps to find Jacobian of a 3-joint robot are shown
below.
Planning of trajectories analysis and control
Analysis of redundancy
Determination of
singular configurations
Derivation of dynamic
equations of motion
Transformation of
forces and torques from
the end effector to the
robot joints
Denavit-Hartenberg parameters are








The transformation from the end-effector frame to the
base frame is calculated by Denavit-Hartenberg and
results in

0
3
=
| | | (
1
)(
2

2
+
3

2
+
3
)
(
1
)(
2

2
+
3

2
+
3
)
| | |
1

2

2

3

2
+
3
| | | 1


The Jacobian can be found such

=
1

1
(
2

2
+
3

23
)
2

23

23

1
(
2

2
+
3

23
)
2

23

23

1
0
2

23

23



Singularities: when det = 0 ; det = [
2

2
+

23
][
3

3
]


3
= 0; Lose link length

2
= 0; Lose link length

3
= 0; Elbow forearm fully extended

2

2
+
3

23
= 0; This is the projection of the
forearm and upper arm onto the x axis. If they sum
0, the arm is over the origin, and the joint 1 loses
ability to position the robot



Joint d a
1
1

1
0 -90
2
2
0
2
0
3
3
0
3
0
LEANDRO TOM MARTINS
leandro.tome11@gmail.com