ME 4135

Differential Motion and the Robot

Jacobian

Slide Series 6
R. R. Lindeke, Ph.D.

Lets develop the differential Operator

bringing calculus to Robots
The

Differential Operator is a way to account

for Tiny Motions (T)
It can be used to study movement of the End
Frame over a short time intervals (t)
It is a way to track and explain motion for
different points of view

Considering motion:
K x i

K Ky j

K z k

We can define a
General Rotation of a
vector K:

By a general matrix
defined as:
Rot ( X , x )gRot (Y , y )gRot ( Z , z )

These Rotation are given as:

0
0
0
1
0 Cos ( ) Sin( ) 0
x
x

Rot ( X , x )
0 Sin( x ) Cos ( x ) 0

0
0
1
0

But lets remember for our purposes that this angle

is very small (a tiny rotation) in radians
If the angle is small we can use some
simplifications:
Cos small 1

Sin small small

Substituting the Small angle

Approximation:
1 0
0 1
Rot ( X , x )
0 x

0 0

0
x
1
0

0
0

Similarly for Y and Z:

1
0
Rot (Y , y )
y

0 y
1 0
0 1
0 0

0
0

z
1

0
0

Rot ( Z , z )

0 0
0 0

1 0

0 1

Simplifying the Rotation Matrices

(form their product):

z
1

x
0

Gen.Rot

1

z

y 0

x 0

1 0

0 1

Note here: we have neglected higher order

products of the terms!

What about Small (general)

Translations?

We define it as a matrix:

General Tiny Motion is

then (including both Rot.
and Translation):

1 0 0 dx
0 1 0 dy

Trans (dx, dy , dz )
0 0 1 dz

0
0
0
1

1

Gen _ Movement z
y

z
1
x
0

y
x
1
0

dx
dy

dz

So using this idea:

Lets define a motion which is due to a robots joint(s)

moving during a small time interval:
T+T = {Rot(K,d)*Trans(dx,dy,dz)}T
Consider Here: T is the original end frame pose
Substituting for the matrices:

x
0

T T

1

z

y
x
1
0

dx
dy
T
dz

Solving for the differential motion (T)

1

T z
y

z
1
x
0

y
x
1
0

dx
dy
T T
dz

Factoring T (on the RHS)

1 z

z
1

T
y x

0
0

y
x
1
0

dx

dy

dz

1 0 0 0
0 1 0 0

T
0 0 1 0

0 0 0 1

Further Simplifying:
z

x
0

0

z

We will call this

matrix the del
operator:

y
x
0
0

dx
dy
T
dz

Thus, the Change in POSE (T or dT)

is:
dT

(T) = T
Where: = {[Trans(dx,dy,dz)*Rot(K,d)] I}
Thus we see that this operator is analogous
to the derivative operator d( )/dx but now
taken with respect to HTMs!

Lets look into an application:

Given:

T0n curr

1
0

0
1
0
0

0
0
1
0

Subject it to 2 simultaneous movements:

Along X0 (dx) by .0002 units (/unit time)

About Z0 a Rotation of 0.001rad (/unit
time)

3
5

Graphically:

Here:
Rinit = (32 + 52) .5 =
5.831 units

init = Atan2(3,5) =
R

1.0304 rad

Where is the Frame n after one time

step?
Considering

Position:

Effect of Translation:
X=3.0002

and Y = 5.000
New Rf = (3.00022 + 5.02).5 = 5.83105 u

Effect of Rotation
fin

= 1.0304 + 0.001 = 1.0314 rad

Therefore: Xf = Cos(fin) * Rf = 2.99505

And: Yf = Sin(fin) * Rf = 5.00309

Where is the Frame n after one time

step?

Considering
Orientation:

Cos (V )
r
n Sin V

.9999995

.000999998

Sin V
.000999998
r

o Cos V .9999995

0
0

0
r
a 0

1

After 1 time step, Exact Pose is:

.9999995 .000999998
.000999998
.9999995
Tnew

0
0

0
0

0 2.99505

0 5.00309

1
0

0
1

Lets Approximate it using this

operator

Tnew = Tinit + dT = Tinit + Tinit

calculus

Where:

dT Tinit

the 1st law of differential

0 .001
.001
0

0
0

0
0

0 .001
.001
0

0
0

0
0

0 .0048
0 .003

0
0

0
0

0 .0002 1 0
0
0 0 1

0
0 0 0

0
0 0 0

0
0
1
0

3
5

Thus, Tnew is Approximately:

1 0 0
0 1 0
Tnew Tinit Tinit
0 0 1

0 0 0
.001 0 2.9952
1
.001
1
0 5.003

0
0
1
0

0
0
0
1

3
5

.001 0 .0048

.001

0
0 .003

0
0
0
0

0
0
0
0

Comparing:

Exact:

Approximate:

.9999995 .000999998 0 2.99505

.000999998
.9999995
0 5.00309

Tnew

0
0
1
0

0
0
0
1

.001
1
.001
1

Tnew
0
0

0
0

0 2.9952
0 5.003

1
0

0
1

Realistically these are all but equal but using the del
approximation, but finding it was much easier!

We can (might!) use the del approach

to move a robot in space:

Take a starting POSE (Torig) and a

starting motion set (deltas in rotation
and translation as function of unit
times)
Form operator for motion
Compute dT (Torig)

Form Tnew = Torig + dT

Repeat as time moves forward over

n time steps

Taking Motion W.R.T. other Spaces

(another use for this del operator idea)

Original Model (the motion we seek is defined in an inertial

space):

(1)

However, if the motion is taken w.r.t. another (non-inertia)

space:

dT = T

dT = TT (2)
Here T implies motion w.r.t. itself a moving frame but could be
motion w.r.t. any other non-inertia space (robot or camera, etc.)

Consider as well: the pose change (motion that is happening)

itself (dT) is independent of point of view so, by equating (1)
and (2) we can isolate T
T = (T)-1T

Solving for the specific Terms in T

uuuuu
r uur r
dx g d n d p gn
uuuuu
r uur r
T
dy g d o d p go
uuuuu
r uur r
T
dz g d a d p ga
r
d, n, o & a vectors
T
x gn
are extracts from the
r
T Matrix
T
y go
d is the translation
r
vector in
T
z ga
is the rotational
T

Positional Change Vector

w.r.t. (any) Tspace:

Angular effects wrt Tspace:

effects in

Subbing into a del Form:

z
T
y
0

x
0

y
T
x
0
0
T

dx
T
dy
T
dz

0
T

An Application of this issue:

TRpart

TCamPart

TWCR
If the Part is moving along a conveyor and
we measure its motion in the Camera
Frame (let the camera measure it at
various times) and we would need to pick
the part with the robot, we must track wrt
to the robot, so we need part motion del
in the robots space.

This is a Motion Mapping Issue:

Pa
Pa

Pa

WC Ca
R

WC Ca

Pa
C

Pa

Pa

Knowns:
C
Robot

in WC
Camera in WC
And of course Part in Camera (But we dont need it for now!)

Lets Isolate the Middle

WC

Ca

To solve for R we make progress from R to

R directly (R) and The long way around:
R

WC

Ca

g T g

R 1
WC

Cam
WC

Cam

g T

g T

Cam 1
WC

R
WC

Rewriting into a Standard Form:

It

can be shown for 2 Matrices (A & B):

A-1*B

= (B-1*A)-1 (1)
Or B-1*A = (A-1*B)-1 (2)
If,

on the previous page we consider:

TWCCam
and

as A and TWCR as B,

define the form: (TwcCam)-1*TWCR as T

Then,

Using the theorem (from matrix math)

stated as (2) above T-1 is: (TWCR)-1* TWCCam

Continuing:

Rewriting, we find that R = T-1(Cam) T

R is now shown in the standard form for non-inertial
space motion

the terms: d, n, o & a vectors come from our complex T

matrix
the dp and vectors can be extracted from the Cam

These term are required to define motion in the robot space

Of course the T is really: (TwcCam)-1*TWCR here!

Its from this T product that we extract n, o, a, d vectors

is given by simplifying:

1st: (TwcCam)-1*TWCR = T

Then these Scalars:

WHERE:
d, n, o & a vectors are
extracts from the T Matrix
above
dp is the translation vector
in Cam
is the vector of rotational
effects in Cam

uuuuu
r uur r
dx g d n d p gn
uuuuu
r uur r
R
dy g d o d p go
u
u
u
u
u
r
u
u
r
r
R
dz g d a d p ga
r
R
x gn
r
R
y go
r
R
z ga
R

Lets Examine the Jacobian Ideas

Fundamentally:
g

D J Dq
and, If it 'exists' we can define the
Inverse Jacobian as:
g

Dq J D

In This Model, Ddot & Dq,dot are:

x
g
y
g
z ; Cartesian Velocity
x

y
z
g

q1
g
q 2
g
q3
; Joint Velocity
g
q4
g
q5

g
q6

Dq

We state, then, that the

Jacobian is a mapping
tool that relates Cartesian
Velocities (of the n frame)
to the movement of the
individual Robot Joints

Lets build one from 1st Principles

Here is a Spherical Arm:

Lets start with only

linear motion ---equations are
straight forward!

Writing the Position Models:

Z = R*Sin()
X = R*Cos()*Cos()
Y = R*Cos()*Sin()

dz

dt

To find velocity, differentiate

these as seen here:

Sin R ( Sin )

dt

S R RC
dx

C C RC (C )
g

C C R RC S RC S
dy

dt

R
g

C S RS (C )
g

C
t

RC

C S R RS S RC C

S
t

RC

Writing it as a Matrix:

g
X
RC S
g
RC C
Y

0
Z

RC S
RS S
RC

C C
g

S C

S g
R

This is the Jacobian; It is built as the Matrix of

partial joint contributions (coefficients of the
velocity equations) to Velocity of the End Frame

Here we could develop an Inverse

Jacobian:

'2

g
zx

'
2

R

x
R

R

R x y
'

x
zy

R '2
R' R2

0 xg

g
'
R 2 y
R
g
z z
R

2 .5

It was formed by taking

the partial derivatives of
the IKS equations

The process we just did is limited to finding Linear Velocity!

and We need both linear and angular velocities for full
functioned robots!

We can approach the problem by separations as we

did in the General case of Inverse Kinematics
Here we separate Velocity (Linear from Rotational),
not Joints (Arms from Wrists)
Generally speaking, in the Jacobian we will obtain
one Column for each Joint and 6 rows for a full
velocity effect
We say the Jacobian is a 6 by n (6xn) matrix

Separation Leads to:

A Cartesian Velocity
Term V0n:

g
x
g
g
n
y V0 J v Dq
g
z

An Angular Velocity
Term 0n:

x
n J Dg
0

q
y
z

Each of these Jis are 3 Row by n Columned Matrices

Building the Sub-Jacobians:

We

follow 3 stipulations:
Velocities

can only be added if they are defined in the

same space as we know from dynamics
Motion of the end effector (n frame) is taken w.r.t. the
base space (0 frame)
Linear Velocity effects are physically separable from
angular velocity effects

To

address the problem we will consider

moving a single joint at a time (using DH
separation ideas!)

Lets start with the Angular Velocity (!)

Considering any joint i, its Axis of motion is: Zi-1 (Z in Frame i-1)

The (modeling) effect of a joint is to drive the very next frame (frame i)

If Joint i is revolute:

i
i 1

ki 1 gqi Z i 1 gqi

here k(i-1) is the Zi-1 direction (by definition)

This model is applied to each of the joints (revolute) in the machine

(as it rotates the next frame, all subsequent fames, move similarly!)
But if the Joint is Prismatic, it has no angular effect on its
controlled frame and thus no rotoation from it on all subsequent
frames

Developing the (base) J

We need to add up each of the joint effects

Thus we need to normalize them to base space to do the
sum
DH methods allow us to do this!

i
i 1

ki 1 gqi Z i 1 gqi

Since Zi-1 is the active direction in a Frame of the model, we

really need only to extract the 3rd column of the product of A1
* *Ai-1 to have a definition of Zi-1 in base space. Then, this
Ais products 3rd column is the effect of Joint i as defined in
the (common) base space (note, the qdot term is the rate of
rotation of the given joint)

So the Angular Velocity then is:

n

i Z i 1 qi
n
0

i 1

Note Zi-1 for

Jointi per DH
algorithm!

i 1 (revolute joint)
i 0 (prismatic joint)

As stated previously, Zi-1 is the 3rd col. of A1*Ai-1 (rows 1,2

& 3). And we will have a term in the sum for each joint

Going Back to the Spherical Device:

uur g
uu
r g r
1 Z 0 1 Z1 0
n
0

we state:

n
0

Therefore:

J gD q

uur uu
r
J Z 0 Z1

and (always):

0
uur
Z0 0

1

r
0

Notice: 3 columns since

we have 3 joints!

Here, Z1 depends
on the Frame
Skeleton drawn!

Building the Linear Jacobian

It

too will depend on the motion associated

with Zi-1
It too will require that we normalize each joints
linear motion contribution to the base space
We will find that revolute and prismatic joints
will make functionally different contributions to
the solution (as if we would think otherwise!)
Prismatic joints are Easy, Revolutes are not!

Building the Linear Jacobian

g
n
0 is linear velocity of the end frame wrt the base

d 0n g
d
gq i

qi
i 1
g
n
0

Jv

n
0

q
i i 1 to n

Building the Linear Jacobian for

Prismatic Joints

When a prismatic jointi moves, all

subsequent links move (linearly) at the
same rate and in the same direction

Building the Linear Jacobian

Prismatic Joints
Therefore,

for each prismatic joint of a

machine, the contribution to the Jacobian
(after normalizing) is:
Zi-1

which is the 3rd column of the matrix given by:

A0 * * Ai-1

This

is as expected based on the model on

the previous slide (and our move only one
and then normalize it method)

Building the Linear Jacobian for

Revolute Joints

This is a dicer problem,

But no that wont work here just because its a

rotation, and it changes orientation of the end
revolute motion also does have a linear contribution
effect to the motion of the end

but then, remembering the idea of prismatic joints on angular

velocity

This is a levering effect which moves the origin of the n-frame

as we saw when discussing the del-operator on the -R
structure.

We must compute and account for this effect and

then normalize it too.

Building the Linear Jacobian

Revolute Joints
Using this model we would
expect that a rotation i would
lever the end by an amount that
is equivalent (in direction) to the
CROSS product of the driver
vector and the connector vector
and with a magnitude equal to
Joint velocity

Building the Linear Jacobian

Revolute Joints
This is the
directional
resultant (DR)
vector given by:

Zi-1 X di-1n
[with Magnitude
equal to joint
speed!]
Note the Green
Vector is equal to
the red DR vector!

Building the Linear Jacobian

Revolute Joints

Zi-1 X di-1n is the direction of the linear motion of the

revolute joint i on n-Frame motion
It too must be normalized
Notice: di-1n = d0n d0i-1 (call it eq. 3)
This normalizes the vector di-1n to the base space
But the d-vectors on the r.h.s. are really origin
position of the various frames (Framei-1 and Framen)
i.e. the positions of frame Origins
So lets rewrite equation 3 as: di-1n = On Oi-1

Building the Linear Jacobian

Revolute Joints
The

contribution to the Jv due to a revolute

joint is then:
Zi-1

X (On Oi-1)

Where:
Zi-1 is
Oi-1
On

the 3rd col. of the T0i-1 (A1* *Ai-1)

is 4th col. of the T0i-1 (A1* *Ai-1)

is 4th col. Of T0n (the FKS!)

NOTE

when we pull the columns we only need the first

3 rows!

Building the Linear Jacobian

Summarizing:

The Jv is a 3-row by n columned matrix

Each column is given by joint type:

Revolute

Joint: Zi-1 X (On Oi-1)

Prismatic

Joint: Zi-1

And

notice: select Zi-1 and Oi-1 for the frame before the
current joint column

Combining Both Halves of the

Jacobian:

For Revolute Joints:

J v
J

u
r
uu
uu
uruuuuu
uu
uruuuuuuuuuu
ru
Z i 1 On Oi 1

uuur

Z i 1

For Prismatic Joints:

J v
J
J

uuur
Z i 1
r
0

What is the Form of the Jacobian?

Robot is: (PPRRRR) a cylindrical machine

with a spherical wrist:
Z0
0

Z1
0

Z 2 O6 O2
Z2

Z 3 O6 O3
Z3

Z 4 O6 O4
Z4

Z0 is (0,0,1)T; O0 = (0,0,0)T always, always,

always!
Zi-1s and Oi-1s are per the frame skeleton

Z 5 O6 O5

Z5

Lets try this on the Spherical ARM we

did earlier:

d3
2
1

The robot indicates

this frame skeleton:

Lets try this on the Spherical ARM we

did earlier:
LP Table:
Fr

Link

Var

01

90

C1

S1

12

2+90

90

-S2

C2

2n

d3

Lets try this on the Spherical ARM we

did earlier:

Ais:

C1 0 S1
S1 0 C1
A1
0 1 0

0 0 0
S 2 0 C 2
C2 0 S2
A2
0
1 0

0 0
0
1 0 0 0
0 1 0 0

A3
0 0 1 d3

0
0
0
1

0
0

1
0
0

Lets try this on the Spherical ARM we

did earlier:

T1 = A1!
T2 = A1 * A2

T0n = T3 = A1*A2*A3

C1S 2 S1 C1C 2
S1S 2 C1 S1C 2
T2
C2
0
S2

0
0
0

0
0

C1S 2 S1 C1C 2 d 3C1C 2

S1S 2 C1 S1C 2 d S1C 2
3

T0n T 3
C2
0
S2
d3S 2

0
0
0
1

Lets try this on the Spherical ARM we

did earlier: THE JACOBIAN
The Jacobian is Of This Form:

Z 0 O3 O0

Z0

Z1 O3 O1
Z1

Z 2
r
0

Lets try this on the Spherical ARM we

did earlier: THE JACOBIAN

Here:

d3C1C 2
0

Z 0 O3 O0 0 d3S1C 2

1
d3 S 2
d3 S1C 2
d C1C 2
3

0
0

0

d3C1C 2
S1

Z1 O3 O1 C1 d3S1C 2

0
d3 S 2
d3C1S 2
d S1S 2
3

d 3C 2

0
0

0

After total Simplification, THE Full

JACOBIAN is:
d3 S1C 2 d3C1S 2 C1C 2
d C1C 2 d S1S 2 S1C 2
3
3

0
d3C 2
S2
J

0
S1
0

0
C1
0

1
0
0