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Application Example for

Jacobian of Robots

Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
 Jacobian Matrix and the study of ‘Motion
Kinematics’ of Robotics
The function of the Jacobian Matrix is to describe the relationship between the
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velocity vector of the robot hand and the velocity vector of the joints. For example,
if the joint velocity vector

Θ& = [ q& 1 q& n ]

T
q& 2 L

is known, the multiplication of the Jacobian Matrix and the joint velocity can then
give the linear velocity and angular velocity of the robot hand.
X& = J Θ
&
⎡ ∂f1 ∂f1 ∂f1 ⎤
⎡ vx ⎤ ⎢ L ⎥ ⎡ q&1 ⎤
⎢ v ⎥ ⎢ ∂q1 ∂q 2 ∂q n
⎥ ⎢ q& ⎥
⎢ y ⎥ ⎢ ∂f 2 ∂f 2 ∂f 2 ⎥ ⎢ 2 ⎥
⎢ vz ⎥ ⎢ L ⎢ q& ⎥
⎢ ⎥ = ⎢ ∂q1 ∂q 2 ∂q n ⎥ ⎢ 3 ⎥
⎥ M
⎢ ω x ⎥ ⎢ ∂f ∂f 3 ∂f 3 ⎥ ⎢ ⎥ where
⎢ω y ⎥ ⎢ L ⎥⎢ M ⎥
3

⎢ ⎥ ⎢ ∂q1 ∂q 2 ∂q n ⎥ ⎢ ⎥
⎣⎢ω z ⎦⎥ ⎢η R 0 ⎧1 If i-th joint = rotary
⎥ ⎣⎢ n ⎦⎥ ηi = ⎨
q&
⎣ 1 0(3 col ) η 2 R 1
0(3 col ) L η n R0(3
n −1
col ) ⎦
⎩0
If i-th joint = prismatic
 Example Exercise:-
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Link θi ai αi di
4 θ4 0 - 90
o
0
5 θ5 0 90o 0
6 θ6 0 0o d6
 ⎡c4 0 − s4 0⎤
⎢s 0 c4 0 ⎥⎥
T 34 = ⎢ 4
⎢ 0 −1 0 0⎥
⎢ ⎥
⎣ 0 0 0 1⎦
⎡c5 0⎤
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0 s5
⎢s 0 − c5 0 ⎥⎥
T 45 = ⎢ 5
⎢ 0 1 0 0⎥
⎢ ⎥
⎣ 0 0 0 1⎦
⎡c6 − s6 0 0 ⎤
⎢s c6 0 0 ⎥⎥
T 56 = ⎢ 6
⎢ 0 0 1 d6⎥
⎢ ⎥
⎣ 0 0 0 1 ⎦
⎡c4c5 − s4 c4 s5 0⎤
⎢s c c4 s4 s5 0 ⎥⎥
T 35 = ⎢ 4 5
⎢ − s5 0 c5 0⎥
⎢ ⎥
⎣ 0 0 0 1⎦
⎡ c4c5c6 − s4 s6 − c4c5 s6 − s4c6 c4 s5 c4 s5d 6 ⎤
⎢s c c + c s − s4c5 s6 + c4c6 s4 s5 s 4 s 5 d 6 ⎥⎥
T 36 = ⎢ 4 5 6 4 6

⎢ − s5c6 s5 s6 c5 c5d 6 ⎥
⎢ ⎥
⎣ 0 0 0 1 ⎦
 6
From the above expression of T3 ,
the position vector of the tip of the arm is given by:
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⎡ px ⎤ ⎡c4 s5 d6 ⎤
⎢ p ⎥ = ⎢s s d ⎥
⎢ y⎥ ⎢ 4 5 6⎥
⎢⎣ pz ⎥⎦ ⎢⎣ c5 d6 ⎥⎦

Differentiating the above position vector with respect to

time leads to the following linear velocity vector:

⎡ vx ⎤ ⎡ − s4 s5 d 6 c4 c5 d 6 0 ⎤ ⎡θ&4 ⎤
⎢v ⎥ = ⎢ c s d ⎥ ⎢&⎥
⎢ y⎥ ⎢ 4 5 6 s4 c5 d 6 0 ⎥ ⎢θ5 ⎥
⎢⎣ vz ⎥⎦ ⎢⎣ 0 − s5 d 6 0 ⎥⎦ ⎢⎣θ&6 ⎥⎦
 3 4 5
The third columns of R3 , R3 , and R3 are

⎡0 ⎤ ⎡ − s4 ⎤ ⎡c4 s5 ⎤
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R 3
3(3col ) = ⎢⎢0 ⎥⎥ ,
4
R3(3 col ) = ⎢⎢ c4 ⎥⎥ , 5
R3(3 col ) = ⎢⎢ s4 s5 ⎥⎥
⎢⎣1 ⎥⎦ ⎢⎣ 1 ⎥⎦ ⎢⎣ c5 ⎥⎦

And η1 = 1,η2 = 1 and η3 = 1

⎡ ∂f1 ∂f1 ∂f1 ⎤
⎢ ∂q L ⎥
∂q2 ∂qn
⎢ 1
⎥
⎢ ∂f 2 ∂f 2 ∂f 2 ⎥
⎡ Jv ⎤ ⎢ L
J = ⎢ ⎥ = ⎢ ∂q1 ∂q2 ∂qn ⎥
⎥
⎣ J ω ⎦ ⎢ ∂f ∂f3 ∂f3 ⎥
⎢
3
L ⎥
⎢ ∂q1 ∂q2 ∂qn ⎥
⎢η1 R0(3
0
η R 1
L ηn R0(3
n −1
⎥
⎣ col ) 2 0(3col ) col ) ⎦
 We obtain the Jacobian matrix of the spherical wrist
as follows:
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⎡ − s4 s5 d 6 c4 c5 d 6 0 ⎤
⎢csd s4 c5 d 6 0 ⎥⎥
⎢ 4 5 6
⎢ 0 − s2 d 6 0 ⎥
J =⎢ ⎥
⎢ 0 − s4 c4 s5 ⎥
⎢ 0 c4 s4 s5 ⎥
⎢ ⎥
⎢⎣ 1 0 c5 ⎥⎦
 Homework
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• Study the chapter on Motion Kinematics, chapter 4.

• Try to understand and follow the examples given.
• Try out the exercises by yourself.
• Read and understand the reference slides given.