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Differential Relationship
. ^ . ^ . . ^
VB V A V B/ A l1 1 sin 1 i l1 1 cos 1 j l2 ( 1 2 ) sin( 1 2 )i
. . ^
l2 ( 1 2 ) cos( 1 2 )j
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xB l2 cos 1 l2 cos( 1 2 )
y B l1 sin 1 l2 sin( 1 2 )
Jacobian
Definition : Jacobian is a representation of the geometry of the
elements of a mechanism in time.
Yi f i ( x1 , x2 , x3 , , xj)
f1 f1 f1
Y1 x1 x2 x j
x1 x2 x j
f2 f2 f2
Y2 x1 x2 x j
x1 x2 x j
fi fi fi
Yi x1 x2 x j
x1 x2 x j
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Jacobian
f1 f1 f1
Y1 x1
x1 x2 x j
f2
Y 2
x1
x 2
Matrix Representation
fi
Yi xj
fi fi
xi
Yi x j
x1 x j
dx d 1
Differentiating the position
dy d 2
equations of a robot
dx Robot d 3
D J D
x Jacobian d 4
Differential motion y d 5
of the hand frame
z d 6 Differential motion of robot joints
Function of robots configuration(D-H
parameters)
and of its instantaneous position and orientation
The differential motion of a hand frame of the robot are caused by the
differential motions in each of the joints of the robot.
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Differential Translations
Differential Rotations
Representation : Rot(k, d )
^
The frame has rotated an angle of d about an axis k
1 0 0 0 1 0 y 0 1 z 0 0
0 1 x 0 0 1 0 0 z 1 0 0
Rot ( x, x) Rot ( y , y ) Rot ( z , z )
0 x 1 0 y 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
x
0 c@ -s@ 0
0 s@ c@ 0 10
0 0 0 1]
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1 0 0 0 1 0 y 0 1 z 0 0
0 1 x 0 0 1 0 0 z 1 0 0
0 x 1 0 y 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
1 z y 0 1 z y 0
Neglect the higher
x y z x y z 1 x 0 z 1 x 0 order differential motion
( x y, - x y z, x z, y z)
y x z x y z 1 0 y x 1 0
0 0 0 1 0 0 0 1
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: Differential Operator
Trans ( dx , dy , dz ) Rot ( k , d ) I
1 0 0 dx 1 z y 0 1 0 0 0
0 1 0 dy z 1 x 0 0 1 0 0
0 0 1 dz y x 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
0 z y dx
z 0 x dy
y x 0 dz
0 0 0 0
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Differential Change
dnx dox da x dp x
dn y do y da y dp y
dT
dnz doz da z dp z
0 0 0 0
The new frame is:
Tnew dT Told
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delta
d s= (d=delta)
Differential Changes between Frames [0 -dz dy
dz 0 -dx
[ dT ] [ ][T ] [T ][T ] [T ] 1[ ][T ] [T ] 1[T ][T ] -dy dx 0]
T 1
[ ] [T ] [ ][T ]
S=S^T
nx ny nz p n 0 z y dx
1 ox oy oz p o z 0 x dy T
n
T x
ax ay az p a y x 0 dz T
y o
0 0 0 1 0 0 0 0 T
z a
T
0 T
z T
y T
dx dx n [( p) d ]
T
T
z 0 T
x dy T dy o [( p) d ]
[T 1 ][ ][T ] T
T T T T
y x 0 dz dz a [( p) d ]
0 0 0 0
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Relation between the differential motions of the joint of the robot and
the differential motions of the hand frame and dT.
dx d 1
dy d 2
dx Robot d 3
D J D
x Jacobian d 4
y d 5
z d 6
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Calculation of Jacobian
Example:
px
J11 S1 (C234a4 C23a3 C 2 a2 )
1
px
J12 C1 ( S 234a4 S 23a3 S 2 a2 )
px C1(C234a4 C23a3 C2a2 ) 2
px
J13 C1 ( S 234a4 S 23a3 )
px S1 (C234a4 C23a3 C2a2 ) 3
px
px S234a4 S23a3 S2a2 J14 C1 ( S 234a4 )
Taking the derivative of px 4
1 1 px
J15 0
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The last column of the forward px
kinematic equation of the J16 0
robot 6
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[T6 D] [T6 J ][ D ]
T6 T6 T6
dx J11 T6
J12 J 16
d 1
T6 T6 T6
dy J 21 T6 J 22 J 26 d 2
T6 T6 T6
dz J 31 J 36 d 3
T6
x
T6
J 41 T6
J 46 d 4
T6
x
T6
J 51 T6
J 56 d 5
T6
x
T6
J 61 T6
J 66 d 6
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calculate dT
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Inverse Jacobian
Inverse Jacobian calculates how fast each joint must move so that the
robots hand will yield a desired differential motion or velocity.
To make sure the robot follows a desired path, the joint velocities must
be calculated continuously in order to ensure that the robots hand
maintains a desired velocity.
[ D] [ J ][D ]
[ J ][D] [ J 1 ][ J ][D ]
1
[ D ] [ J 1 ][D]
[T6 J 1 ][T6 D] [T6 J 1 ][T6 J ][ D ] D [T6 J 1 ][T6 D]
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px S1 p y C1 0
1
py
1 tan and 1 1 180
px
px S1 p y C1
dpx S1 px C1d 1 dp y C1 p y S1d 1
d 1 ( px C1 p y S1 ) dpx S1 dp y C1
dpx S1 dp y C1
d 1
( px C1 p y S1 )
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Velocity/Force Propagation
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Derivative of a vector:
B B
B dB Q(t t) Q (t )
VQ Q lim
dt t 0 t
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A
A B dB
VQ Q
We may write it: dt
A B A
VQ B R BVQ . Speed vector is a free vector
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Example 5.1
Both vehicles are 100 mph
heeding in X A fixed universal frame
direction of U
30 mph
U
dU
PCORG U VCORG vC 30 X .
dt
( VTORG ) C vT UCRvT UCR (100 X )
C U U
C R 1100 X .
C T
( VCORG ) C
T RT VCORG C
U RUT RT VCORG U
C R 1U
T R 70 X .
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A
B
describes the rotation of frame {B} relative to {A}
A
direction of B
indicates instantaneous axis
of rotation
A
Magnitude of B
indicates speed of rotation
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A
If rotation B R
A A A
is not changing with time: VQ VBORG R BVQ .
B
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| Q| Is perpendicular to
A A
B and Q
Magnitude of differential
change is:
| Q| (| A Q | sin )(| A B | t)
A A A
VQ B Q
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A A B A A
In general case: VQ ( VQ ) B Q
A A
VQ B R BVQ A
B
A
B R BQ.
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A A A
VQ VBORG BR BVQ A
B
A
B R BQ.
We skip 5.4!
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Written in frame i
At any instant, each link of a robot in motion has some linear and
angular velocity.
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Velocity of a Link
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Rotational Velocity
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i
i 1
i
i
i
i 1 R i 1 Zi 1.
i 1
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i 1
0
i 1 Z i 1 0
i 1
i 1
By premultiplying both sides of previous equation
i R
to:
i 1
i Ri i 1
i 1
iRi i
i 1
i R i 1iR i 1
i 1
Z i 1.
i 1
i 1
i 1
i Ri i i 1
i 1
Z i 1.
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Linear Velocity
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Linear Velocity
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i 1 i 1
i 1 i Ri i ,
i 1
vi 1
i 1
i R (i vi i
i
i
Pi 1 ) di 1 Z i 1.
i 1
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Example 5.3
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Example 5.3
Frame assignments for the two link manipulator
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Example 5.3
We compute link transformations:
c1 s1 0 0 c2 s2 0 l1 1 0 0 l2
0 s1 c1 0 0 1 s2 c2 0 0 2 0 1 0 0
1T , T
2 , T
3 .
0 0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
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Example 5.3
Link to link transformation
0 0
1 1
1 0 , v1 0 ,
1 0
0 c2 s2 0 0 l1s2 1
2 2
2 0 , v2 s2 c2 0 l1 1 l1c2 1 ,
1 2 0 0 1 0 0
l1s2 1
3 2 3
l1s2 0 1
3 2 , v3 l1c2 1 l2 ( 1 2 ) .
l1c2 l2 l2 2
0
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Example 5.3
Velocities with respect to non moving base
c12 s12 0
0 0 1 2
3 R 1 R 2 R 3 R s12 c12 0.
0 0 1
l1s1 1 l2 s12 ( 1 2 )
0 0
l1s1 l2 s12 l2 s12
v3 3 R 3v3 l1c1 1 l2 c12 ( 1 2 ) 1
.
l1c1 l2 c12 l2 c12 2
0
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r rx ry rz
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Jacobian
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Jacobian
f1 f1 f1
...
x1 x2 xN
f2 f2
... ...
J f,x x1 x2
... ... ... ...
fM fM
... ...
x1 xN
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Partial Derivatives
The use of the symbol instead of d for partial
derivatives just implies that it is a single component
in a vector derivative.
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Jacobian
y1 f1 ( x1 , x2 , x3 , x4 , x5 , x6 ),
y2 f 2 ( x1 , x2 , x3 , x4 , x5 , x6 ),
y6 f 6 ( x1 , x2 , x3 , x4 , x5 , x6 ), Y F ( X ).
f1 f1 f1
y1 x1 x2 x6 ,
x1 x2 x6
f2 f2 f2
y2 x1 x2 x6 , Chain rule
x1 x2 x6 J(X)
f6 f6 f6 F
y6 x1 x2 x6 , Y X.
x1 x2 x6 X
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Jacobian
Y J (X )X.
0
0 v 0
V 0
J( ) .
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Jacobian
.
For a 6 joint robot the Jacobian is 6x6,
is a 6x1 and v is 6x1.
The number of rows in Jacobian is equal to
number of degrees of freedom in Cartesian
space and the number of columns is equal
to the number of joints.
0
V 0J ( )
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Jacobian
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Jacobian
Jacobian might be found by directly
differentiating the kinematic
equations of the mechanism for linear
velocity, however there is no 3x1
orientation vector whose derivative is
rotational velocity. Thus we get
Jacobian using successive application
of:
i 1 i 1
vi 1 R ( i vi
i
i
i
i
Pi 1 )
i 1
i 1
i 1
Ri
i i i 1
i 1
Z i 1
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Geometric Jacobian
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Singularities
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Singularities
Singularities are categorized into two class:
Workspace boundary singularities:
Occur when the manipulator is fully starched
or folded back on itself.
Workspace interior singularities:
Are away from workspace boundary and are
caused by two or more joint axes lining up.
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Example 5.4
l1s2 0
DET [ J ( )] | J ( ) | l1l2 s2 0.
l1c2 l2 l2
2 0 ,180 Workspace boundary singularities
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Example 5.5
0 1 l2c12 l2 s12
J 1( ) .
l1l2 s2 l1c1 l2c12 l1s1 l2 s12
c12
1 ,
l1s2
c1 c12
2 .
l2 s2 l1s2
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i
f i ifi 1 0
Summing the torques about
the origin of frame i
i
ni i ni 1
i
Pi 1
i
fi 1 0
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i i
fi i 1 R i 1f i 1 , Static force propagation
i i i 1 i i from link to link:
ni i 1 R ni 1 Pi 1 fi .
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Work-energy Principle
The change in the kinetic energy of an object is
equal to the net work done on the object.
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F X
It can be written as: FT X T
X j
So we have FT J T
FT J T
.
J T F.
0 T0
J F.
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v 3 x1 linear velocity
V
3 x1 angular velocity
F 3 x1 force vector
F
N 3 x1 moment vector
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i 1
i 1
i 1
i Ri i i 1
i 1
Z i 1.
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B A A
vB T v
B v A
B B B
vB A R A R APBORG A
vA
B B A
B 0 AR A
A A A
vA B R PBORG BA R B
vB
A A B
A 0 BR B
A A
vA B Tv B v B
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A force-moment transformation
A A
FA B R 0 B
FB
A A A B
BR
A
NA PBORG B R NB
A A B
FA B Tf FB
A A
B Tf B T vT
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Example 5.8
T T
FT S T f S FS ,
T
T S R 0
S Tf T T T
.
PSORG S R S R
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