Velocity Analysis

Jacobian

University of Bridgeport
1
Introduction to ROBOTICS
Kinematic relations
(
(
(
(
(
(
(
(

=
6
5
4
3
2
1
u
u
u
u
u
u
u
(
(
(
(
(
(
(
(

u
|
z
y
x
X
Joint Space
Task Space
=IK(X)
Location of the tool can be specified using a joint space or a cartesian space
description


X=FK()
Velocity relations
Joint Space
Task Space
Relation between joint velocity and cartesian
velocity.
JACOBIAN matrix J()
(
(
(
(
(
(
(
(

6
5
4
3
2
1
u
u
u
u
u
u

(
(
(
(
(
(
(
(

z
y
x
z
y
x
e
e
e

u u

) ( J X =
X J

) (
1
u u

=
Jacobian
Suppose a position and orientation vector of a
manipulator is a function of 6 joint variables: (from
forward kinematics)
X = h(q)

(
(
(
(
(
(
(
(

u
|
z
y
x
X 1 6
6
5
4
3
2
1
) (

(
(
(
(
(
(
(
(

=
q
q
q
q
q
q
h
1 6
6 2 1 6
6 2 1 5
6 2 1 4
6 2 1 3
6 2 1 2
6 2 1 1
) , , , (
) , , , (
) , , , (
) , , , (
) , , , (
) , , , (

(
(
(
(
(
(
(
(

=
q q q h
q q q h
q q q h
q q q h
q q q h
q q q h

Jacobian Matrix
Forward kinematics
) (
1 1 6
=
n
q h X
q
dq
q dh
dt
dq
dq
q dh
q h
dt
d
X
n

) ( ) (
) (
1 1 6
= = =

(
(
(
(
(
(
(
(

z
y
x
z
y
x
e
e
e

1
2
1
6
) (

(
(
(
(

=
n
n
n
q
q
q
dq
q dh

1 6 1 6
=
n n
q J X

dq
q dh
J
) (
=
Jacobian Matrix
(
(
(
(
(
(
(
(

z
y
x
z
y
x
e
e
e

1
2
1
6
) (

(
(
(
(

=
n
n
n
q
q
q
dq
q dh

n
n
n
n
n
q
h
q
h
q
h
q
h
q
h
q
h
q
h
q
h
q
h
dq
q dh
J

(
(
(
(
(
(
(
(

c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
=
|
|
.
|

\
|
=
6
6
2
6
1
6
2
2
2
1
2
1
2
1
1
1
6
) (

Jacobian is a function of
q, it is not a constant!
Jacobian Matrix
(

O
=
(
(
(
(
(
(
(
(

=
V
z
y
x
X
z
y
x
e
e
e

1 6
=
n n
q J X

(
(
(

=
z
y
x
V

Linear velocity
(
(
(

=
=
=
= O
e
u e
| e

z
y
x
Angular velocity
The Jacbian Equation
1
2
1
1

(
(
(
(

=
n
n
n
q
q
q
q

Example
2-DOF planar robot arm
Given l
1
, l
2
, Find: J acobian
u
2
u
1
(x , y)
l
2

l
1

(

=
(

+ +
+ +
=
(

) , (
) , (
) sin( sin
) cos( cos
2 1 2
2 1 1
2 1 2 1 1
2 1 2 1 1
u u
u u
u u u
u u u
h
h
l l
l l
y
x
(

+ + +
+ +
=
(
(
(
(

c
c
c
c
c
c
c
c
=
) cos( ) cos( cos
) sin( ) sin( sin
2 1 2 2 1 2 1 1
2 1 2 2 1 2 1 1
2
2
1
2
2
1
1
1
u u u u u
u u u u u
u u
u u
l l l
l l l
h h
h h
J
(

=
(

=
2
1
u
u

J
y
x
Y
Singularities
The inverse of the jacobian matrix cannot be
calculated when
det [J()] = 0

Singular points are such values of that
cause the determinant of the Jacobian to
be zero
Find the singularity configuration of the 2-DOF
planar robot arm
(

+ + +
+ +
=
) cos( ) cos( cos
) sin( ) sin( sin
2 1 2 2 1 2 1 1
2 1 2 2 1 2 1 1
u u u u u
u u u u u
l l l
l l l
J
(

=
(

=
2
1
u
u

J
y
x
X
u
2
u
1
(x , y)
l
2

l
1

x
Y
=0
V
determinant(J)=0 Not full rank
0
2
= u
Det(J)=0
Jacobian Matrix
Pseudoinverse
Let A be an mxn matrix, and let be the pseudoinverse
of A. If A is of full rank, then can be computed as:




+
A
+
A

>
=
s
=

+
n m A A A
n m A
n m AA A
A
T T
T T
1
1
1
] [
] [
Jacobian Matrix
Example: Find X s.t.

(

=
(

2
3
0 1 1
2 0 1
x
(
(
(

=
(

(
(
(

= =

+
2 4
5 1
4 1
9
1
2 1
1 5
0 2
1 0
1 1
] [
1
1 T T
AA A A
(
(
(

= =
+
16
13
5
9
1
b A x
Matlab Command: pinv(A) to calculate A
+

Jacobian Matrix
Inverse Jacobian




Singularity
rank(J)<n : Jacobian Matrix is less than full rank
Jacobian is non-invertable
Boundary Singularities: occur when the tool tip is on the surface
of the work envelop.
Interior Singularities: occur inside the work envelope when two
or more of the axes of the robot form a straight line, i.e., collinear

(
(
(
(

= =
66 62 61
26 22 21
16 12 11
J J J
J J J
J J J
q J X

(
(
(
(
(
(
(
(

6
5
4
3
2
1
q
q
q
q
q
q

X J q

1
=
5
q
1
q
Singularity
At Singularities:
the manipulator end effector cant move in
certain directions.
Bounded End-Effector velocities may
correspond to unbounded joint velocities.
Bounded joint torques may correspond to
unbounded End-Effector forces and torques.



Jacobian Matrix










If


Then the cross product



,
x x
y y
z z
a b
A a B b
a b
( (
( (
= =
( (
( (

( )
y z z y
x y z x z z x
x y z x y y x
i j k a b a b
A B a a a a b a b
b b b a b a b
(
(
= =
(
(

Remember DH parmeter













The transformation matrix T



i i i i i i i
i i i i i i i
i i i
c -c s s s a c
s c c -s c a s
0 s c d
0 0 0 1
i
A
u o u o u u
u u o o u u
o o
(
(
(
=
(
(

i
i
A A A T .....
2 1 0
=
Jacobian Matrix









| |
n
J J J J ....
2 1
=
Jacobian Matrix












2-DOF planar robot arm
Given l1, l2 , Find: J acobian


Here, n=2,




















u
2
u
1
(x , y)
l
2

l
1

19
Where (
1
+
2
) denoted by
12
and
i i i i i i i
i i i i i i i
i i i
c -c s s s a c
s c c -s c a s
0 s c d
0 0 0 1
i
A
u o u o u u
u u o o u u
o o
(
(
(
=
(
(

0 1
0
0
1
Z Z
(
(
= =
(
(

1 1 1 1 2 1 2
0 1 1 1 2 1 1 2 1 2
0 cos cos cos( )
0 , sin , sin sin( )
0 0 0
a a a
O O a O a a
u u u u
u u u u
+ +
( ( (
( ( (
= = = + +
( ( (
( ( (

Jacobian Matrix












2-DOF planar robot arm
Given l1, l2 , Find: J acobian


Here, n=2











0 2 0 1 2 1
1 2
0 1
( ) ( )
,
z o o z o o
J J
z z

( (
= =
( (

u
2
u
1
(x , y)
l
2

l
1

Jacobian Matrix
























0 2 0
1
0
( ) z o o
J
z

(
=
(

1 1 2 1 2
0 2 0 1 1 2 1 2
1 1 2 1 2 1 1 2 1 2
1 1 2 1 2
1 1 2 1 2
0 cos cos( )
( ) 0 sin sin( )
1 0
0 0 1
cos cos( ) sin sin( ) 0
sin sin( )
cos cos( )
0
a a
Z o o a a
i j k
a a a a
a a
a a
u u u
u u u
u u u u u u
u u u
u u u
+ +
( (
( (
= + +
( (
( (

(
(
=
(
( + + + +

+
(
(
= + +
(
(

Jacobian Matrix
























1 2 1
2
1
( ) z o o
J
z

(
=
(

2 1 2
1 2 1 2 1 2
2 1 2 2 1 2
2 1 2
2 1 2
0 cos( )
( ) 0 sin( )
1 0
0 0 1
cos( ) sin( ) 0
sin( )
cos( )
0
a
Z o o a
i j k
a a
a
a
u u
u u
u u u u
u u
u u
+
( (
( (
= +
( (
( (

(
(
=
(
( + +

+
(
(
= +
(
(

Jacobian Matrix
























2 1 2
2 1 2
2
sin( )
cos( )
0
0
0
1
a
a
J
u u
u u
+
(
(
+
(
(
=
(
(
(
(

1 1 2 1 2
1 1 2 1 2
1
sin sin( )
cos cos( )
0
0
0
1
a a
a a
J
u u u
u u u
+
(
(
+ +
(
(
=
(
(
(
(

| |
1 2
J J J =
The required Jacobian matrix J










Stanford Manipulator
i i i i i i i
i i i i i i i
i i i
c -c s s s a c
s c c -s c a s
0 s c d
0 0 0 1
i
A
u o u o u u
u u o o u u
o o
(
(
(
=
(
(

The DH parameters are:
Stanford Manipulator
1
0 1
T A =
1 2 1 1 2 2 1
1 2 1 1 2 2 1 2
0 1 2
2 2
0 0
0 0 0 1
c c s c s d s
s c c s s d c
T A A
s c

(
(
(
= =
(
(

0
0
0
1
z
(
(
=
(
(

1
1 1
0
s
z c

(
(
=
(
(

1 2
2 1 2
2
c s
z s s
c
(
(
=
(
(

1 2 1 1 2 3 1 2 2 1
1 2 1 1 2 3 1 2 2 1 3
0 1 2 3
2 2 3 2
0
0 0 0 1
c c s c s d c s d s
s c c s s d s s d c
T A A A
s c d c

(
(
+
(
= =
(
(

1 2
3 1 2
2
c s
z s s
c
(
(
=
(
(

3 1 2 2 1
3 3 1 2 2 1
3 2
d c s d s
O d s s d c
d c

(
(
= +
(
(

0 1
0
0
0
O O
(
(
= =
(
(

2 1
2 2 1
0
d s
O d c

(
(
=
(
(

Stanford Manipulator
4
0 1 2 3 4
T A A A A =
5
0 1 2 3 4 5
T A A A A A =
6
0 1 2 3 4 5 6
T A A A A A A =
1 2 4 1 4
4 1 2 4 1 4
2 4
c c s s c
z s c s c c
s s

(
(
= +
(
(

T4 =

[ c1c2c4-s1s4, -c1s2, -c1c2s4-s1*c4, c1s2d3-sin1d2]
[ s1c2c4+c1s4, -s1s2, -s1c2s4+c1c4, s1s2d3+c1*d2]
[-s2c4, -c2, s2s4, c2*d3]
[ 0, 0, 0, 1]
3 1 2 2 1
4 3 1 2 2 1
3 2
d c s d s
O d s s d c
d c

(
(
= +
(
(

Stanford Manipulator
T5 =

[ (c1c2c4-s1s4)c5-c1s2s5, c1c2s4+s1c4, (c1c2c4-s1s4)s5+c1s2c5,
c1s2d3-s1d2]
[ (s1c2c4+c1s4)c5-s1s2s5, s1c2s4-c1c4, (s1c2c4+c1s4)s5+s1s2c5,
s1s2d3+c1d2]
[ -s2c4c5-c2s5, -s2s4, -s2c4s5+c2c5, c2d3]
[ 0, 0, 0, 1]
1 2 4 5 1 4 5 1 2 5
5 1 2 4 5 1 4 5 1 2 5
2 4 5 2 5
c c c s s s s c s c
z s c c s c s s s s c
s c s c c
+
(
(
= + +
(
( +

1 2 4 5 1 4 5 1 2 5
5 1 2 4 5 1 4 5 1 2 5
2 4 5 2 5
c c c s s s s c s c
z s c c s c s s s s c
s c s c c
+
(
(
= + +
(
( +

Stanford Manipulator
T5 =

[ (c1c2c4-s1s4)c5-c1s2s5, c1c2s4+s1c4, (c1c2c4-s1s4)s5+c1s2c5,
c1s2d3-s1d2]
[ (s1c2c4+c1s4)c5-s1s2s5, s1c2s4-c1c4, (s1c2c4+c1s4)s5+s1s2c5,
s1s2d3+c1d2]
[ -s2c4c5-c2s5, -s2s4, -s2c4s5+c2c5, c2d3]
[ 0, 0, 0, 1]
1 2 4 5 1 4 5 1 2 5
5 1 2 4 5 1 4 5 1 2 5
2 4 5 2 5
c c c s s s s c s c
z s c c s c s s s s c
s c s c c
+
(
(
= + +
(
( +

3 1 2 2 1
5 3 1 2 2 1
3 2
d c s d s
O d s s d c
d c

(
(
= +
(
(

Stanford Manipulator
6
d6s5c1c2c4 d6s5s1s4 d6c1s2c5 c1s2d3 s1d2
d6s5s1c2c4 d6s5c1s4 d6s1s2c5 s1s2d3 c1d2
d6s2c4s5 d6c2c5 c2d3
O
+ +
(
(
= + + + +
(
( + +

T6 = [ c6c5c1c2c4-c6c5s1s4-c6c1s2s5+s6c1c2s4+s6s1c4, -
c5c1c2c4+s6c5s1s4+s6c1s2s5+c6c1c2s4+c6s1c4, s5c1c2c4-s5s1s4+c1s2c5,
d6s5c1c2c4-d6s5s1s4+d6c1s2c5+c1s2d3-s1d2]
[ c6c5s1c2c4+c6c5c1s4-c6s1s2s5+s6s1c2s4-s6c1c4, -s6c5s1c2c4-
s6c5c1s4+s6s1s2s5+c6s1c2s4-c6c1c4, s5s1c2c4+s5c1s4+s1s2c5,
d6s5s1c2c4+d6s5c1s4+d6s1s2c5+s1s2d3+c1d2]
[ -c6s2c4c5-c6c2s5-s2s4s6, s6s2c4c5+s6c2s5-s2s4c6, -s2c4s5+c2c5, -
d6s2c4s5+d6c2c5+c2d3]
[ 0, 0, 0, 1]
Stanford Manipulator
0 6 0 1 6 1
1 2
0 1
( ) ( )
,
z o o z o o
J J
z z

( (
= =
( (

Joints 1,2 are revolute
2
3
0
z
J
(
=
(

Joint 3 is prismatic
3 6 3 5 6 5 4 6 4
4 5 6
3 5 4
( ) ( ) ( )
, ,
z o o z o o z o o
J J J
z z z

( ( (
= = =
( ( (

The required Jacobian matrix J
| |
1 2 3 4 5 6
J J J J J J J =
Inverse Velocity
The relation between the joint and end-effector velocities:


where j (mn). If J is a square matrix (m=n), the joint
velocities:


If m<n, let pseudoinverse J
+
where







( ) X J q q =
1
( ) q J q X

=
1
[ ]
T T
J J JJ
+
=
( ) q J q X
+
=
Acceleration
The relation between the joint and end-effector velocities:


Differentiating this equation yields an expression for the
acceleration:


Given of the end-effector acceleration, the joint
acceleration



( ) X J q q =
( ) [ ( )]
d
X J q q J q q
dt
= +
X
q
( ) [ ( )]
d
J q q X J q q
dt
=
1
( )[ ( )] ]
d
q J q X J q q
dt