MODULE 5

Velocity kinematics – Derivation of the Jacobian, Application of

velocity kinematics for serial manipulators, importance of
Singularities.
S . I N
T U N OTE
Manipulator Dynamics. Introduction to Legrangian mechanics and
K
Dynamic equation for 2 DOF robots, Introduction to position control
and force control of robotic manipulators, Robot actuation and
control using PID controllers.

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Velocity Kinematics

• It deals with the velocity of motion of robots.

• It mathematically represents the movement of joints of a

robot.

• The velocity of motion of end-effector can be calculated

with E S . I N
U N O T
T
respect to the velocity
K of motion of the various joints.
• Differential motions are small movements in the robots
that can be used to derive the velocity relationship between
different parts of a robot.

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Jacobian Representation

• Jacobian is a mathematical representation of geometry of

elements of a mechanism with respect to time.

• In robotics, it allows to convert differential motion /velocity

of
individual joints to differential motion /velocity of end-
effector. S . I N
U N O TE
KT
• Since, the values of joint angle vary in time, the magnitude of
the elements of the Jacobian vary in time as well.

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• Consider a 2DOF robot in three different positions as shown
below:
• It can be seen that, the magnitude and direction of end
effector will vary with the movement of the different joints.
• Joint 1 is rotated at an angle θ1 in all the three cases, the
end effector varies in different ways for different configuration.

S . I N
T U N OTE
Joint 2
K

Joint 1 Joint 1 Joint 1

Joint 2
Joint 2
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• Jacobian is calculated by differentiating each position
equation of the robot with respect to all variables.
• Let yi be a function of a set of independent variables xj

• For calculating the Jacobian, take the derivative of yi w.r.t

to every independent variable xj

S . I N
T U N OTE
K

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• The set of differential equation can be written in the matrix
form:

S . I N
T U N OTE
K

Jacobian Matrix

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 • This Jacobian representation can be extended for the
robotic motion.
• The differential motion of a robot wrt to differential motion
of its hand frame is related by:

S . I N
T U N OTE
K

• dx,dy dz : differential motion of robotic hand along (i.e. linear

motion) the x,y and z axes.
• δx, δy, δz: differential equation of robotic hand around (i.e.
rotational motion) x,y and z axes.
• dθ is the differential motion of joint.
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E.g.: Calculate the linear and angular differential motion of a
robotic hand for the given Jacobian matrix.

S . I N
E motion is given by;
O
Sol: The equation for linearNandTangular
KTU

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 Calculation of Jacobian

• Jacobian matrix is calculated from the transformation

matrix of
the robot.
• Let us consider a forward transformation matrix of a 6DOF
robot
given below:
S . I N
T U N OTE
K

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• This matrix can be equated to the jacobian representation:

S . I N
T U N OTE
K
• The first three elements of the [D] matrix in jacobian is for the
linear motion (change in position).
• So that will be equal to px, py, pz elements.

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• So to find the jacobian representation, take the derivative
of px, py and pz w.r.t to every variable in the equation.

S . I N
T U N OTE
• Here C1 = cos(θ1);KS1 = sin(θ1); C234 = cos(θ2 + θ3 + θ4) ;
S234 = sin(θ2 + θ3 + θ4) etc.

• So the variables are θ1, θ2 , θ3 , θ4 , θ5, θ6

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• The resulting derivatives of px w.r.t θ1, θ2 , θ3 , θ4 , θ5, θ6 are:

S . I N
T U N OTE
K

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E.g.: Calculate the jacobian corresponding to py

Sol: Find the derivative of py w.r.t to all the six variable.

S . I N
T U N OTE
K

and
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• It is easy to calculate the jacobian relative to the last frame (at
the
end effector  6th frame) than the first frame.
• The jacobian relative to the last frame for 6DOF robot is given
by;

S . I N
T U N OTE
K

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• The equation for a revolute joint i is given by:

S . I N
• The equation forKaT
prismatic OTE
UN joint i is given by:

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Differential Operator
• Differential operator is used to describe the change in the
current frame for a robot.
• If the current frame of a robot is denoted by T and the
change
in the frame due to differential movement is denoted by
dT.
Then,
E S . I N
[ dT ] = [ ∆ ] [ T ] TUN O T
where ∆: differential K operator
∆=

• So the new frame will be T = dT + T

new Ktunotes.in old
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E.g.: The hand frame of a 5 DOF robot has a numerical
Jacobian and differential motion as given below. The robot
is a 2RP2R configuration. Find the new location of the hand
after differential motion.

S . I N
T U N OTE
K

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Sol:
• Assume that since robot is having only 5DOF, it rotate only
in the x and y axes
• From the [ J ] and [ dθi ] matrix, calculate the [D] matrix

S . I N
T U N OTE
K

• Now substitute the values from D matrix to the ∆ matrix

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 =
∆=

• From this, we can find the change in the frame:

S . I N
T U N OTE
K
• New frame is given by:

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Lagrangian Mechanism

• Lagrangian mechanism is used to find the dynamic

equation of the robot.

• Dynamics equation will provide information regarding the

force or torque required in a robotic arm for handling the
loads and for the movement ofE
T .IN
itsSjoints.
N O
KTU
• Lagrangian mechanism is based on the differentiation of
the energy terms with respect to the system’s variables and
time.

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Definition:
If Kinetic energy and Potential energy of a system are
denoted by K and P respectively, then the Lagrangian is
given by;

From this relation ship, the equation for force and torque
can be written as: .IN
OT E S
K T U N

Where,
Fi : summation of all external forces for a linear motion
Ti : summation of all external torques for a rotational
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E.g:
Derivation of Dynamic equation of motion using Lagrangian
method for the 2DOF robot shown below. The centre of mass
is at the centre and moment of inertia are I1 and I2

S . I N
T U N OTE
K
θ1+ θ1

θ1

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The equation for position of link 2 is given by;

Then we can calculate the velocity of the centre of mass of

link 2 by differentiating its position:

S . I N
T U N OTE
K
Equation for velocity is given by:

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