MENG 4757 Differential Motion and Jacobian

Differential Motions and
Velocities
The Jacobian
Maki K. Habib
Mechanical Engineering Department
School of Sciences and Engineering
The American University in Cairo
maki@ieee.org
1
AUC_MENG 4757 Fall 2014
Prof. Dr. Maki K. Habib
Differential translation and rotation

if the transformation is restricted to represent only
translation and rotation as in Robotic Kinematics,
then the derivative can be expressed as a differential
translation and rotation transformations in terms of either
the,
11. Base coordinate frame.

frame
2. Given coordinate frame.
2
Jacobian
J bi
To study Jacobian, there is a need t0 look at:
Differential motion,
Linear and angular motion,
V l i propagation,
Velocity
i
Explicit form.
3
Differential Motions
Forward Kinematics: Map (Joint space) X (Cartesian space)
X involves the position and the orientation.
orientation so there is a part that discusses the
linear velocity and there is another part that represents the angular velocity
The position and orientation of the manipulator end

end-effecter
effecter were
evaluated in relation to joint displacements.
p
corresponding
p
g to a given
g
end-effecter location
The jjoint displacements
were obtained by solving the kinematic equation for the manipulator.
Here,, we are concerned not only

y with the final location of the endeffecter, but also with the velocity at which the end-effecter moves.
In order to move the end-effecter in a specified direction at a specified speed,
it is necessary to coordinate the motion of the individual joints.
p
off fundamental
f
methods for
f achievingg such
The focus here is the development
coordinated motion in multiple-joint robotic systems.
4
IIn order
d to
t coordinate
di t joint
j i t motions,
ti
we are going
i to
t derive
d i
the differential relationship between the joint displacements
and the end
end-effecter
effecter location,
location and then solve for the
individual joint motions.
Instantaneous Kinematics: Map

For very small displacement
X+X
+
X X
The question is: what is X given +? (knowing theta and delta theta)
The answer is:
Th
i
Finding the relation between and X can be achieved
through a linear relationship that connect them.
X is going to be related to by is a matrix called
Jacobian
5
Differential Motion
Forward Kinematics
x
Instantaneous Kinematics
+ x+ x
Relationship: x
x
Involves
l
two things
hi
Linear Velocity
Angular Velocity
6
Hence, there is a need to find this relationship and establish this

Jacobian matrix that connects those displacements.
Therefore,, to studyy the Jacobian were ggoingg to start byy
Looking at differential motion and
Discussing
g how do we compute
p a linear velocity
y at a
visual object,
Discussing how angular velocity is computed as we
propagate andd
Discussing how to compute the impact of angular
velocity on the linear and angular velocity of the end
effector.
So this will take place by propagating of velocities from
one joint to the next and that is going to provide us with a
sort of recursive relation that will allow us to find the
velocities and the endo-effector.
In addition
addition, another way can be examined in stead of
propagating velocities.
Here,, we are ggoingg to examine the structure of the
kinematics of a robot and its impact on the end-effector
of velocities and that will lead to something really
interesting that we call the explicitly form of the
Jacobian matrix.
Th t is
That
i
we are going to analyze the kinematics, and find-out
that in each of the columns of this matrixes
we are going to have an association with a specific
joint.
That means, if we take the first column, this first column
corresponds to the first joint and its impact on the velocity of
th end-effector
the
d ff t velocities
l iti (linear
(li
and
d angular).
l )
8
The explicit Jacobian form is going to be very important in

establishing the model that connects the displacement or
velocities of the joint and of the end-effector.
IN addition, this model is going to be important in establishing
the relationship between forces.
forces
Forces are acting on the joints. Depending on the type of the
joints, force for prismatic joint, torque for revolute joint,.
Now,
if we apply a set of torques to the arm, there will be some
resulting forces at the end
end-effector.
effector It turned out that the
relationship between torques and forces resulting in the
eendofactor
do c o comes
co es from
o exactly
e c y thee same
s e model
ode from
o thee same
s e
Jacobian.
9
There is a dual relationshipp between velocities and static

forces that will lead to establish the relationship between
Joint torques/forces and forces at the end-effector.
10
Differential
off a Frame
Diff
ti l Motions
M ti
F
The differential motions of a frame can be
divided into the following:
g
Differential translations,
translations
Differential rotations,
Differential
Diff
ti l transformation
t
f
ti
(Translations and Rotations)
11
In the case of Differential Translation,

It is a translation of a frame at differential values (small
values) in the space. It can be represented by
Trans(dx, dy, dz)
The values in the translation transformation are replaced
with the differential translations, as
1
0
Trans(dx , dy , dz )
0
0 0 dx
1 0 dy
0 1 dz
0 0 1
This means that the frame has moved a differential

amount along three axes.
12
In the case of Differential Rotation,

It is a small rotation of an object with respect to a
coordinate frame. It is generally represented by
Rot ( k , d ) , which means that the frame has rotated
0
0
an angle d about the axis k 1 0
Consider the single-axis

rotation
t ti matrices:
ti
0 cos
Rot ( x , )
0 sin
0
0
cos
0
Rot ( y , )
sin
cos
sin
Rot ( z , )
0
sin
cos
0
0
0
0 sin
1
0
0 cos
0
0
0
sin
cos
0
0
0 0
0 0
1 0
0 1
13
As we are considering differential motion, we make use

of the fact that
sin
approaches and
approaches zero
approaches 1 when
zero,
cos
i.e., sin and cos 1
Differential rotations about X, Y, and Z are defined by
axis,,
x to be a small rotation about the
y to be a small rotation about the Y axis, and
z to be a small rotation about the Z axis.
For angles less that 0.1 radians (5.7 degree) the error is
less than 0.02%
0 02% for the sine functions and 0.5%
0 5% for the
cosine functions.
By substituting the values of small rotations into single
14
axes rotation matrices
1 0
0 1
R ( x, x )
Rot
0 x
0 0
1
0
Rot ( y , y )
y
z
Rot ( z , z )
0
0
x
1
0
0 y
1
0
0
1
z
1
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
15
It can be noticed that these matrices defy the established

rule about the magnitude of each vector being one unit.
12 ( x ) 2 1
However, a differential value is assumed to be very

However
small.
In mathematics, higher order differentials are
considered to be negligible and are usually neglected
neglected.
If we do neglect the higher order differential,

differential such as the
( x ) 2 the magnitude of the vectors remain acceptable.
16
The order (sequence) of multiplication for

differential rotations
As it has described early, if the order of multiplications
of matrices changes,
changes the results will change as well.
well
In matrix multiplication,
multiplication the order or matrices is very
important.
But, in case of multiplying two differential motions
in different order, we will get the same results.
17
1 0
0 1
Rot ( x, x ) Rot ( y, y )
0 x
0 0
1

x y
0 1
0 0
0 y
1 0
0
x
1
0
0
1
y
x
0 y
1
0
0
1
0
0
0
0
0
18
1
0
Rot ( y, y ) Rot ( x, x )
y
0
1
0
0 y
1
x y
1
x
0
0 1 0
0 0 1
0 0 x
1 0 0
0
0
0
x
1
0
y 0
x 0
1
19
Since we are neglecting higher order differentials,

differentials such
as, x y the results are exactly the same,
1
Rot ( x, x ) Rot ( y, y )
x y
y
0
1
0
Rot ( y, y ) Rot ( x, x )
y
0
1
x
0
x y
1
x
0
0 y 0
y 0 1
0
0
x 0
x
1
0
1
0 y x
y 0
x 0
1
1
0
0
0
1
x
0
y 0
x 0
1
20
Therefore, we can assume that the order of

multiplication is not important in differential
motions, and that,
Rot ( y, y ) Rot ( x, x ) Rot ( x, x ) Rot ( y, y )

Since velocities are differential motions divided by time,
the order of multiplication will be unimportant too.
21
Rot(kr , ) =
General Rotation Transformation
kxkx vers + cos
kykx vers - kz sin

i kzkx vers + kysin
i
kzky vers - kxsin
kxky vers + kzsin kyky vers + cos
kxkz vers - kzsin kykz vers + kx sin kzkz vers + cos
0
0
0
is in this case finite.
0
0
0
1
vers = ( 1 cos ),
For a differential change d about an arbitrary (general)

T
vector (arbitrary axis of rotation) k k x k y k z
22
The corresponding trigonometric function become
lim sin d
lim cos 1
li vers 0
lim
1
k d
z
Rot (k , d )
k y d
k z d
1
k x d
0
k y d
k x d
1
0
0
0
1
23
Where
k x d x
k y d y
k z d z
is equivalent to three differential rotation x , y , z

about
b t the
th x , y , z axes
Rot (k , d )
y
0
z
1
y
x
0
0
24
Now consider the following transformation that

composes of three differential motions about the three
axes
Rot ( x, x ) Rot ( y , y ) Rot ( z , z )

This will equal to
25
1 0
0 1
0 x
0 0
0
x
1
0
0 1
0 0
0 y
1 0
1
z

1 x y z
x y
z
y x z y z x
0
0
0 y
1
0
0
1
y
x
1
0
0 1
0 z
0 0
1 0
z
1
0
0
0 0
0 0
1 0
0 1
0
0
0
26
Therefore, this matrix again can be simplified by

neglecting
g
g all higher
g
order differentials ((second and
third order terms),
z
y
z
1
y
x
0
0
0
This equation is simpler that the absolute

transformation, but it applies only to differential motion
relative to the current object position
27
Differential Rotation about a General Axis

Since the order of multiplication for differential
relations is not important, it is possible to multiply
differential rotations in any order.
A general differential about a general axis k is
composed of three differential motions about the three
axes, in any order,
k
Thus, a differential motion about any general axis
can be found by multiplying the
Rot (k , d ) Rot ( x, x ) Rot ( y, y ) Rot ( z , z )

28
Differential transformation of a Frame

The differential transformation of a frame is a
combination of a differential translations and rotations
An object
j is located in space
p
by
y attachingg a
coordinate frame to it.
This object frame is described with respect to a
reference frame with a transformation matrix
(homogeneous transform matrix).
T
29
T andd assume
We denote
W
d t the
th original
i i l frame
f
as
that the change in the frame T as result of a
diff
ti l transformation
t
f
ti is
i expressedd as dT :
differential
After a differential change in the location of the object,
the new location can be found with respect to the
reference frame by pre-multiplying the
transformation matrix by the differential transforms.
New location =
T dT Trans(dx , dy , dz ) Rot ( k , d ) T
30
Trans(dx, dy, dz )
Is a transformation representing a
differential translation of dx, dy
y,, dz
in base coordinate
Rot (k , d )
d about
diff
differential
ti l rotation
t ti
b ta
vector k also in base coordinate.
dT
Is given by
dT (Trans(dx, dy, dz ) Rot (k , d ) I )T

31
Alternatively, we can express the differential change

in terms of a differential translation and rotation in
the given coordinate (current) frame T )
T dT T Trans(dx, dy, dz ) Rot (k , d )
32
Trans(dx, dy, dz )
Rot
ot (k , d )
translation of dx, dy
y,, dz with
respect to coordinate frame T
d about
diff
differential
ti l rotation
t ti
b ta
vector k also respect to coordinate
T .
f
frame
dT
given by
y
is g
dT T (Trans(dx, dyy, dz ) Rot (k , d ) I )

33
The differential Translation and Rotation

Transformation
The common sub-expression which appears in the
previous
i
equations
i
represents a differential
diff
i l translation
l i
and rotation transformation. This is denoted by
For the case of pre-multiplication
dT T
(Trans(dx, dyy, dz ) Rot (k , d ) I )
34
Trans (dx, dy, dz ) Rot (k , d ) I

1
0
0 0 dx 1
1 0 dy z
0 1 dz y
0 0 1 0
0
z
y
z
0
y
x
0
0
z
1
x
0
y 0 1 0 0 0
x 0 0 1 0 0
1
0 0 0 1 0

1 0 0 0 1
dx
dy
dz
0
35
The differential motion transform is considered to

be composed
p
of two vectors d and , known as the
differential translation and the differential rotation
vectors respectively,
p
y,
d d xi d y j d z k
xi y j z k
These two vectors are combined to form a row matrix
known as the differential motion vector (D)).
D dx dy dz x
y z
T
36
Differential changes between coordinate

frames
In an example of
pick and place a screw in a hole,
it is required that the control program has to transform
the differential motion recognized by the vision from the
coordinate frame of the vision system to the coordinate
frame of the object.
Also, it often has to transform differential motion from
Also
Cartesian space to joint space before it can command the
robot to move.
move
37
The differential motion transform
represents
A differential operator relative to the fixed coordinate

frame and is technically
frame,
technically, U
However,, it is possible
p
to define another differential
operator, and this time relative to the current frame
itself.
This will enable us to calculate the same changes in
the frame (frame T). T
(Differential changes relative to the
current frame)
To find changes in the frame, we must postmultiply the frame by T
This will equal same changes of the frame with

respect to fixed reference frame must premultiply the frame by U
38
Since both changes are the same
[dT ] [][T ] [T ][ ]
T
[ ] [T ] [][T ]
T
nx
o
[T ]1 x
a x
ny
oy
ay
nz
oz
az
p.n
p.o
p.a
0
T
z
1
T
T
[ ] [T ] [][T ] T
y
0
All elements of
z
y
T z
0
y
T x
z
0
y
x
dx
d
dy
d
dz
dx
T
dy
T
dz
0
T
are relative to the current frame.

39
B simplifying
By
i lif i the
th left
l ft side
id off the
th previous
i
equation,
ti we will
ill gett
T
x .n
y .o
z .a
dx n.[( p ) d ]
dy o.[( p ) d ]
dz a.[(
[( p ) d ]
40
Differential Motion of a Robot and Its Hand Frame

What we saw till now,
now was the changes made to a frame as a
result of differential motions.
This only relates to the frame changes but not
how they were accomplished
Hence, it is necessary to relate the changes to the
mechanism, i.e., in our case to the robot that accomplishes
the differential motion
It is necessary to know,
know
how the robots movements are translated into
g at the hand?
the frame changes
41
The frame that we discussed

may be
b any frame,
f
including
i l di the
th hand
h d fframe off the
th robot.
b t
dT Describes the changes in the components of the n , o , a , p

vectors.
If the frame is a hand frame of the robot,
robot then we would need
to find out,
how the
h
h diff
differential
i l motion
i off the
h joints
j i t off the
h robot
b
would relate to differential motion of the hand frame,
and specifically to dT .
It is sure that such a relation is not just a
function of robots configuration and design, but
also a function of its instantaneous location
(position and orientation)
42
The Jacobian of the robot will

create this link between the joint movements and the
hand movement as follow,
dx
dy

dz

x
y

z
Robot
Jacobian
dq1

dq2
dq
3
dq4

dq5

dq6
Each element in the Jacobian is

the derivative of a corresponding kinematic equation
with respect to one of the variables
variables.
43
Joint Coordinates
Coordinate i:
i Revolute
d i Prismatic
Hence, joint
j i coordinate-i
di
i can be
b written
i
as
qi ii i di
with
and
0 Revolute
1 Prismatic
i 1 i
The joint coordinate vector is:
q (q1q1q1.....qn )
AUC_RCSS 501 Spring 2014
44
Jacobian: Direct Differentiation
x1 f1 (q )
Find the relationship between the two that is
x f (q)
2 2
between X and q
. .
X f (q ),
)
.
.

. .

(q )
xm f m (q
and then compute their differentiations
differentiations.
f1
f
q1 ...... 1 qn
q1
qn
f
f
x2 2 q2 ...... 2 qn
q1
qn
Writing it in
x1
.
.
.
xm
.
.
.
.
.
.
fm
f
q1 ...... m qn
q1
qn
xm1 J mn (q)qn1
f1 f1
q q
1
2
x1 f
...
x 2
2
q1

..
.
a matrix
i form
f
..
.. .
.
xm where
f m
q1
T k it with
Take
ith respectt to
t time
ti
xm1 J mn (q )qn1
f1
qn
q1
... ... ... ... q
2
..

..
..

qn
f m
qn
J ij (q )
f i (q )
q j
45
Differential Relationship
Jacobian: Direct Differentiation
Consider a two degree-of-freedom planar robot arm, as shown
in Figure below.
The kinematic equations relating the end-effecter coordinates
andd tto the
th joint
j i t displacements
di l
t 1 and
d 2 are given
i
by
b xe, ye
From
Harry Asada
We
are concernedd with
i h small
ll movements
of the individual joints at the current
position, and
wantt to
t know
k
the
th resultant
lt t motion
ti off
the end-effecter.
This can be obtained by the total derivatives
of the above kinematic equations:
46
Take the partial derivative
where ye , xe are variables of both 1and 2,

hence two partial derivatives are involved in the total
derivatives.
In vector form the above equations reduce
where
47
and J is a 2 by 2 matrix given by

The elements of the
Jacobian are functions
of joint displacements,
and thereby vary with
th arm configuration.
the
fi
ti
The matrix J comprises

p
the partial
p
derivatives of the
functions xe(1and 2 ) and ye(1and 2 ) with respect to
join displacement 1and 2
For the two-dof planar robot arm under consideration,
p
of the Jacobian matrix are computed
p
as
the components
48
Differential Kinematics
Differential Relationships
Differentiate the Kinematics

Assume we have Planar 3 joint arm
l3
l1
l2
C123
S
0
123
T
E
0
S123
C123
0
0
0 l1C1 l 2 C12 l3C123

0 l1S1 l 2 S12 l3 S123
1
0
0
1
If we choose X, Y and as task

coordinates,
di t then,
th
X l1C1 l 2 C12 l3C123
Y l1S1 l 2 S12 l3 S123

1 2 3
49
X l1S11 l2 S12 (1 2 ) l3 S123 (1 2 3 )

Y l C l C ( ) l C ( )
1
1 1
12
123
1 2 3
Which can be written
1
X

Y J 2

3
Where the Jacobian J is
X l1C1 l 2 C12 l3C123
Y l1S1 l 2 S12 l3 S123

1 2 3
50
Example:
For an R Z manipulator (cylindrical type). The

equations relating the robot
robotss joint space to Cartesian
space may be written as.
Z
z
Y
X
r cos
A
P r sin
X f (1 ,......, n )
This corresponds to
x r cos
y r sin
zz
51
Take the total derivative yields
dx dr cos r sin d
dy dr sin r cosd
dz dz
x r cos
y r sin
zz
Writing it in matrix form yields,

dx cos
dy sin

dz 0
r sin
r cos
0
0 dr
0 d
1 dz
The inverse relationship is given by,

dr cos
d sin
r
dz 0
sin
cos
r
0
0 dx

0 dy
1 dz
52
Rewrite the last equation

q
solely
y as function of x,, y, and z
to computations,
dr x / r
d y / r 2

dz 0
y/r
y / r2
0
0 dx
0 dyy
1 dz
53
Velocity Relationships
In the field of robotics Jacobian relates
between joint velocities and Cartesian (hand)
velocities:
JACOBIAN matrix J(()
x
X J
y
1

d 2
z
X

1
dt ...
x

N

f ( ,....., )
i n
[ f (1 ,....., n )]
X
i
i
i 1
i n
i i
i 1
The dimension of X corresponds to the number

of Cartesian coordinates (typically 6), and n
corresponds
d tto the
th number
b off joints
j i t off the
th
particular manipulator.
54
Jacobians
Suppose we have a set of equations Yi in terms of a set of
variables xj
The differential change

in Yi for a differential in
xj
Change it to matrix notation
55
or it can be represented by a matrix of partial

derivatives in [ Yi ] [ fi ][ xj ]
xj
This matrix called the Jacobian.

f1( x j ) through f i ( x j ) are nonlinear
If the partial derivatives are a function of xj , we can
change the previous matrix to the following vector
notation
Y J(X)X
By dividing both sides by the infinitesimal time

increment dt yields,
yields Y J(X)X
v J q
e
Thus the Jacobian determines the velocityy relationshipp

between the joints and the end-effecter.
56
The previous relations can be written in a matrix form,

and it represents the differential relationship between
individual variables and the functions.
f1
x
1
Y1 f
Y 2
2 x1
..
.
..
.. .
.
Yi
f i
x1
f1
x 2
...
f1
x j
x1
... ... ... ... x

2

..
..

..
x
j
f i
x j
The matrix encompassing this relationship is called

57
Jacobian
Assuming the number of coefficients for the coordinate

system (number of rows) are equal 6 and the number of
joints (number of columns) are equal to 6, the coefficient of
Jacobian can be arranged in matrix
f1

1
f 2
x1 dx
x 1
2 dy f 3
x3 dz
f 1
x 4 x 4
x5 y 1
f
x 6 z 5
1
f 6

1
f1
2
f 2
2
f 3
2
f 4
2
f 5
2
f 6
2
f1
3
f 2
3
f 3
3
f 4
3
f 5
3
f 6
3
f1
4
f 2
4
f 3
4
f 4
4
f 5
4
f 6
4
f1
5
f 2
5
f 3
5
f 4
5
f 5
5
f 6
5
f1
6
f 2
1
6
f 3 2
6 3

f 4 4
6
5
f 5
6
6
f 6
6
58
For general case of a six jointed robot, the

Jacobian J ( ) is 6*6 matrix,
0V
6*1
vector and
is 6
1 vector,
(or X )
is 6*1.
The 6*1 Cartesian velocity vector is the 3*1 linear

velocity
l it vector
t andd the
th 3*1 rotational
t ti l velocity
l it vector
t
stacked together.
x
y

0
z
v

0
X
V 0
x

y

z
59
The number of rows in the Jacobian equals the

number of Degrees of Freedom in the Cartesian
space being considered (usually it is 6).
The number of columns in the Jacobian equals
the number of joints in the arm.
Jacobian of any dimension (including non-square)
y be defined.
may
Jacobian is a time-varying quantity since it must be
evaluated for instantaneous joint velocities and the
actual position of joints.
JJacobian
bi is
i clearly
l l depend
d
d on the
th kinematic
ki
ti
structure of the arm and the coordinate system used
t express the
to
th hand
h d or tool
t l coordinate
di t frame.
f
60
In dealing with planar arm, there is no reason for the

Jacobian to have more than three rows,
but the number of columns can be as many as number
of joints available.
61
x1 dx J11
x dy J
2 21
x3 dz J 31

x4 x J 41
x5 y J 51

x6 z J 61
J12
J 22
J 32
J 42
J 52
J 62
J13
J 23
J 33
J 43
J 53
J 63
J14
J 24
J 34
J 44
J 54
J 64
J15
J 25
J 35
J 45
J 55
J 65
J16 1

J 26 2
J 36 3

J 46 4
J 56 5

J 66 6
The Jacobian pplays

y an important
p
role in the
analysis, design, and control of robotic systems.
The above matrix can be written into six columns.
Th x1 can be
Then,
b written
itt as
X j1i1 j2i2 j3i3 j4i4 j5i5 j6i6
where n is the number of

active jjoints.
The first term on the right-hand side of the above equation accounts for
the end-effecter velocity induced by the first joint only, while the second
term represents the
h velocity
l i resulting
l i from
f
the
h second
d joint
j i motion
i only,
l
and so on for other terms.
62
Each column vector of the Jacobian matrix represents the

end-effecter velocity generated by the corresponding joint
moving at a unit velocity when all other joints are
immobilized
immobilized.
For the figure of two-dof arm in the two
dimensional space, illustrates the column
vectors J1 and J2.
Vector J2, given by the second column
points in the direction perpendicular to
link 2.
Note, however, that vector J1 is not
di l to
t link
li k 1 but
b t is
i perpendicular
di l
perpendicular
to line OE, the line from joint 1 to the
endpoint E.
This is because J1 represents the endpoint velocity induced by joint 1 when
joint 2 is immobilized.
In other words
words, links 1 and 2 are rigidly connected,
connected becoming a single rigid
body of link length OE, and is the tip velocity of the link OE.
63
The end-effecter velocity is given by the linear combination of the

Jacobian column vectors.
Therefore, the resultant end-effecter velocity varies depending on
the direction and magnitude
of the Jacobian column vectors J1 and
g
J2 spanning the two dimensional space.
If the two vectors point in different directions,
directions the whole two-dimensional
two dimensional
space is covered with the linear combination of the two vectors.
That is, the end-effecter can be moved in an arbitrary direction with an
arbitrary
bit
velocity.
l it
If, on the other hand, the two Jacobian column vectors are aligned,
the end-effecter cannot be moved in an arbitraryy direction.
As shown in Figure (next slide), this may happen for particular arm
postures where the two links are fully contracted or extended.
These arm configurations are referred to as singular configurations.
Accordingly, the Jacobian matrix becomes singular at these positions.
Usingg the determinant off a matrix,, this condition is expressed
p
as
det J 0
64
Singular configurations of the two-dof articulated robot

65
x1 dx J11
x dy J
2 21
x3 dz
d J 31

x 4 x J 41
x5 y J 51

x6 z J 61
J12
J 22
J13
J 23
J14
J 24
J15
J 25
J 32
J 42
J 52
J 33
J 43
J 53
J 34
J 44
J 54
J 35
J 45
J 55
J 62
J 63
J 64
J 65
J16 1

J 26 2
J 36 3

J 46 4
J 56 5

J 66 6
Paul has shown that it is possible to write the velocity equation

with respect to the last frame as
[T6 D] [T6 J ][ D ]
This means, for the same joint differential motion,
premultiplied with the Jacobian relative to the last frame,
we can get the differential motion relative to the last frame
T6 dx T6 J11
T6 T6
dy J 21
T6 dz T6 J 31
T6 T6
x J 41
T6y T6 J
T T 51
6
6
z J 61
T6
J12
T6
J13
T6
J 22
T6
J 32
T6
J 23
T6
J 33
T6
T6
J 42
T6
T6
J 52
T6
J 62
T6
J14
T6
J15
J 24
T6
J 34
T6
J 25
J 35
J 43
T6
J 44
T6
J 45
T6
J 53
T6
J 54
T6
J 55
T6
J 63
T6
J 64
T6
J 65
T6
J16 d1
T6
J 26 d 2
T6
J 36 d 3
T6
J 46 d 4
T6
J 56 d 5
T6
d
J 66 6
T6
66
Velocity
y and Inverse Velocity
y Kinematics
In order to move the manipulator at constant velocity, or
at any prescribed velocity,
we must know the relationship between
the velocity of the tool and
the joint velocities.
To calculate the velocity, the Jacobian matrix should be
constructed as follows
J J (1)
J ( 2)
...... J ( N 1)
J(N )
67
For the three degree of freedom planar robot,
l1S1 l 2 S12 l3 S123
J l1C1 l 2C12 l3C123
l 2 S12 l3 S123
l 2C12 l3C123
1
l3 S123
l3C123
1
This form works in general.

If V is a vector of Cartesian (tool) ratesand
vector of joint rates
is a
V J ( )
Lets
L
t expandd the
th product
d t on the
th right.
i ht
Let J(i) be the ith column of the Jacobian. Then ,
J J (1)
J ( 2)
...... J ( N 1)
J(N )
68

MENG 4757 Differential Motion and Jacobian

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Differential Motions and

Prof. Dr. Maki K. Habib

Differential translation and rotation

11. Base coordinate frame.

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

The position and orientation of the manipulator end

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AUC_MENG 4757 Fall 2014

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There is a dual relationshipp between velocities and static

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In the case of Differential Translation,

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In the case of Differential Rotation,

Consider the single-axis

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It can be noticed that these matrices defy the established

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Since we are neglecting higher order differentials,

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Therefore, we can assume that the order of

Rot ( y, y ) Rot ( x, x ) Rot ( x, x ) Rot ( y, y )

Prof. Dr. Maki K. Habib

General Rotation Transformation

kxkx vers + cos

kykx vers - kz sin

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Prof. Dr. Maki K. Habib

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Prof. Dr. Maki K. Habib