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Matriz Jacobiana
Eduardo Snchez Fontes
1
12 de Octubre de 2013
(1)
Para obtener la matriz jacobiana se toma como base la matriz de transformacin homognea
de la siguiente forma:
C123 S123
S123 C123
0
T3 =
0
0
0
0
X =
Y =
Z =
n
X
Fx (q)
i=1
qi
i=1
qi
i=1
qi
n
X
Fy (q)
n
X
Fx (q)
0 l1 C1 + l2 C12 + l3 C123
0 l1 S1 + l2 S12 + l3 S123
1
0
0
1
(2)
= (l1 S1 + l2 S12 + l3 S123 )q1 (l2 S12 + l3 S123 )q2 (l3 S123 )q3
= (l1 C1 + l2 C12 + l3 C123 )q1 + (l2 C12 + l3 C123 )q2 + (l3 C123 )q3
=0
Y , Z.
(3)
= WZ
WY
WZ WY
0
WX
WX
0
T
= RR
dR
dR
dR
Donde R = q1 +
q2 +
q3
dq1
dq2
dq3
C123 S123 0
S123 C123 0
R = S123 C123 0 y R = C123 S123 0 (q1 + q2 + q3 )
0
0
1
0
0
0
Sustituyendo en (5)
S123 C123 0
C123 S123 0
= (q1 + q2 + q3 ) C123 S123 0 S123 C123 0
0
0
0
0
0 1
0 1 0
= (q1 + q2 + q3 ) 1 0 0
0 0 0
= 0 0 (q1 + q2 + q3 )
(4)
(5)
De se obtiene J0
0 0 0
J0 = 0 0 0
1 1 1
(6)
0
0
0
J =
0
0
0
0
0
0
1
1
1
(7)
p(t)
V =
= J q
(t)
X
(l1 S1 + l2 S12 + l3 S123 ) (l2 S12 + l3 S123 ) (l3 S123 ) q1
Y
(l1 C1 + l2 C12 + l3 C123 ) (l2 C12 + l3 C123 ) (l3 C123 )
q2
0
0
0
Z
q3
=
q4
0
0
0
q5
0
0
0
q6
1
1
1
(8)
Donde:
0
0
O0 = 0 , Z0 = Z1 = Z2 = 0
0
1
l1 C1 + l2 C12 + l3 C123
l1 C1
l1 C1 + l2 C12
O3 = l1 S1 + l2 S12 + l3 S123 , O1 = l1 S1 , O3 = l1 S1 + l2 S12
0
0
0
(9)
0
0
0
J =
0
0
0
0
0
0
1
1
1
(10)
q1 =
rad/s , q2 =
rad/s , q6 = rad/s
180
90
70
Sustituyendo valores en (8) se tiene que la velocidad del efector nal es:
X
(l1 S1 + l2 S12 + l3 S123 ) (l2 S12 + l3 S123 ) (l3 S123 ) q1
Y = (l1 C1 + l2 C12 + l3 C123 ) (l2 C12 + l3 C123 )
(l3 C123 q2
q6
1
1
1
(11)
X
(l1 S1 + l2 S12 + l3 S123 ) (l2 S12 + l3 S123 ) (l3 S123 ) 180
Y = (l1 C1 + l2 C12 + l3 C123 ) (l2 C12 + l3 C123 )
(l3 C123
90
1
1
1
70
(12)