Robotics

Dr. Omar Salah Eldin Mahmoud

1 12/31/2018
 Outline
 Velocity Kinematics

2 12/31/2018
 Velocity Kinematics
The Jacobian
• Now we are ready to describe the relationship between the joint
velocities and the end effector velocities.
• Assume that we have an n-link manipulator with joint variables q1, q2,
…, qn
– Our homogeneous transformation matrix that defines the position and
orientation of the end-effector in the inertial frame is:

Rn0 q  on0 q 
T 
n
o

 0 1 

– We can call the angular velocity of the tool frame w0,n0 and:
S w00,n   R n0 Rn0 
T

– Call the linear velocity of the end-effector:

v n0  o n0

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 Velocity Kinematics
The Jacobian
• Therefore, we want to come up with the following mappings:
v n0  Jv q
wn0  Jw q
– Thus Jv and Jw are 3xn matrices
• we can combine these into the following:   Jq
– where:  v n0 
   0
wn 
J 
J  v
J w 

• J is called the Jacobian

– 6xn where n is the number of joints

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 Velocity Kinematics
The complete Jacobian
• The ith column of Jv is given by:
z  on  oi 1  for i revolute
Jv i   i 1
 zi 1 for i prismatic
• The ith column of Jw is given by:
z for i revolute
Jwi   i 1
 0 for i prismatic

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 Velocity Kinematics
Example: Three-link planar manipulator

i ai ai di qi
1 l1 0 0 q1*
2 l2 0 0 q2*
3 l3 0 0 q3*

c1  s1 0 l1c1 
s c1 0 l1 s1 
T1   1
0
0 0 1 0. 
 
0 0 0 1 

c12  s12 0 l1c1  l 2 c12 

s c12 0 l1 s1  l 2 s12 
T20   12
0 0 1 0. 
 
0 0 0 1 

c123  s123 0 l1c1  l 2 c12  l3 c123 

s c123 0 l1 s1  l 2 s12  l3 s123 
T3   123
0
 0 0 1 0. 
 
 0 0 0 1 

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 Velocity Kinematics
Example: Three-link planar manipulator
 0 l1c1  l 2 c12  l3 c123    l1 s1  l 2 s12  l3 s123 
     
 0  l1 s1  l 2 s12  l3 s123    l1c1  l 2 c12  l3 c123  
 z  o3  o0   1  0    0 
J1   0    
 z0   0   
0
0  
   0 
    
1 
   1 

 0 l 2 c12  l3 c123    l 2 s12  l3 s123   l1 s1  l 2 s12  l3 s123   l 2 s12  l3 s123   l3 s123 
      l c l c l c

 0  l 2 s12  l3 s123    l 2 c12  l3 c123    1 1 2 12 3 123 l 2 c12  l3 c123 l3 c123 
 z  o3  o1   1  0    0   0 0 0 
J2   1     J 
 z1   0   
0
 0 0 0 
0  
   0   0 0 0 
      
1 
   1   1 1 1 

 0 l3 c123    l3 s123 

     
 0  l3 s123    l3 c123 
 z  o3  o2   1  0    0 
J3   2   0 
 z2   0   
0  
   0 
    
1 
   1 

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 Velocity Kinematics
Example 2
i ai ai di qi
1 0 0 d1 q1*
2 0 90 d2* 0
3 0 0 d3* 0

c1  s1 0 0
s c1 0 0 
T1   1
0
0 0 1 d1 
 
0 0 0 1

c1 0 s1 0 
s 0  c1 0 
T2   1
0
0 1 0 d1  d 2 
 
0 0 0 1 

c1 0 s1 s1 d 3 
s 0  c1  c1 d 3 
T3   1
0
0 1 0 d1  d 2 
 
0 0 0 1 

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 Velocity Kinematics
Example2
 0  s1 d 3   c1 d 3 
     
 0    c1 d 3    s1 d 3 
 z  o3  o0   1 d 1  d 2    0 
J1   0   0 
 z0   0   
0  
   0 
    
1 
   1 

c1 d 3 0 s1 
 0   0 
     s d 0  c1 
 0   0   1 3
 z   1  1  0 1 0 
J 2   1         J
 0   0   0  0 0 0 
 0   0   
      0 0 0 
 0  0  1
 0 0 
  s1    s1 
   
  c1    c1 
 z    0    0 
J 3   2     
 0   0    0 
 0    0 
     
 0   0 

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 Velocity Kinematics
Example 3
i ai ai di qi
1 0 90 d1 q1*
2 0 0 d2* 0
3 0 0 d3 q3*
c1 0 s1 0 c1 0 s1 s1d 2 
s s  c1d 2 
0  c1 0  0  c1
T1   1
0 T2   1
0

0 1 0 d1. 0 1 0 d1. 
   
0 0 0 1 0 0 0 1 

c1c3  c1 s3 s1 s1 d 2  d 3  
 s c  s s  c  c d  d 
T3   1 3
0 1 3 1 1 2 3 

 s3 c3 0 d1 . 
 
 0 0 0 1 
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 Velocity Kinematics
Example 3
 0  s1 d 2  d 3    c1 d 2  d 3 
     
 0   c1 d 2  d 3    s1 d 2  d 3 
 z  o3  o0   1  d1    0 
J1   0    
 z0   0   
0
0  
   0 
     
 1   1 

  s1    s1 
 c1 d 2  d 3  s1 0 
    s d  d   c
  c1    c1 
1 2 3 1 0 
 z    0    0 
J 2   1     

J
0 0 0 
 0   0    0  0 0 s1 
 0    0   
  c1 
    
0 0
 
 0   0   1 0 0 

  s1   s1 d 3     0 
     
  c1    c1 d 3    0 
 z  o3  o2    0   0    0 
J3   2   s 
 z2    s1    1 
  c    c1 
  1   
  0    0 

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  ax  bx 
• If A   a y  , B  by 
 az   bz 

• Then the cross product

i j k  a y bz  az by 
 
A  B  ax ay az   (ax bz  az bx ) 
bx by bz  ax by  a y bx 

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