Robotics

Chapter 4: Jacobians, Velocity, and Static Force

Instructor: Dr. Dang Xuan Ba

Email : badx@hcmute.edu.vn
Content

4.1 Introduction

4.2 Velocity

4.3 Jacobians

4.4 Static force

Instructor: Dr. Dang Xuan ba 2

4.1 Introduction

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Kinematics

Forward kinematics

Joint-based state End-effector-based state

variables (Joint variables (Position and
angles) orientation)

Inverse kinematics

Fig. C3.1.1: A typical robot configuration

Instructor: Dr. Dang Xuan ba 4

Method of Solution

Inverse Kinematics Solution

Analytical (Closed-form) Solution Numerical Solution

(Phương pháp phân tích) (Phương pháp số)

Algebraic Geometric
(Đại số) (Hình học)

Necessary condition: Serial 6DOF robot is solvable.

Sufficient condition: Closed-form solution of a 6DOF robot is possible in cases of that joint axes of three consecutive
revolution joints intersect at a single point for all configuration.

Challenge for a new robot ???

Instructor: Dr. Dang Xuan ba 5

Kinematics - Example
( xee , yee , zee )
(1 = 30deg, 2 = 30deg,3 = 45deg)
Given: 
L3  L1 = L2 = L3 = 1
0
1)Find forward kinematics: (3 T )?

2) Find the position of End-effector w.r.t Frame {0}.

Verify it using Matlab.

3) Compute a possible solution of (1 , 2 ,3 ) for the obtained EE

position using Inverse Kinematics
Fig. C3. 2. 1: A 3R Space robot

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4.2 Velocity

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Velocity of a general point

B
Q
PQ
Description of position:
A
PQ = A PBORG + BA R B PQ

Description of velocity:
A
vQ = A PQ = A vBORG + BA R B vQ + A  B BA R B PQ

 x   0 − z y 

where  =  y   =   z

  0 − x 
  z   − y x 0 


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Angular velocity of a general object

B
Q
PQ

Description of angular velocity: A

(
wB = A wA + BA R  B , x B Xˆ B +  B , y BYˆB +  B , z B Zˆ B )

Instructor: Dr. Dang Xuan ba 9

Velocity of robot links

Velocity propagation with rotational Joint:

(Lan truyen van toc cho khop xoay)

Velocity propagation with prismatic Joint:

(Lan truyen van toc cho khop tinh tien)

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Example 1

 0
w3 
Find V3 =  0  ?
0

 v3 

Fig. C4. 2. 1: A 2R Planar robot

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Example 2

 0
wee 
Find Vee =  0  ?
0

 vee 

Fig. C3. 2. 1: A 3R Space robot

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4.3 Jacobians

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Definition

Given a general system

 f1 f1 f1 

 x ...
Its time derivative: x2 x6 
 1 
 f 2 f 2 f 2 
 ... 
J ( X ) =  x1 x2 x6 
 ... ... ... ... 
 
 f 6 f 6
...
f 6 
 x1 x2 x6 

Instructor: Dr. Dang Xuan ba 14

Jacobians in Robot

Given a description of velocity at end-effector

0
Vee =0 J 

N
Vee = N J 

Jacobians frame to frame

 0N R 0 N
0
J=  J
 0 N R
0


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Example 1

1) Find 0
J?

2) Solve inverse kinematic by numerical method with the given condition:

 0 PEE = [0.7;0.5;0]

 L1 = L2 = 1
Fig. C4. 2. 1: A 2R Planar robot
3) Verify using Matlab

Instructor: Dr. Dang Xuan ba 16

Example 2

1) Find 0
J?

2) Solve inverse kinematic by numerical method with the given condition:

 0 PEE = [0.7;0.5;0.1]

 L1 = L2 = L3 = 1
Fig. C3. 2. 1: A 3R Space robot
3) Verify using Matlab

Instructor: Dr. Dang Xuan ba 17

4.4 Static Force

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Force Propagation from Frame to Frame (Lan truyền lực trong các hệ trục tọa độ)
i +1
ni +1
i +1 Force Propagation:
i
fi fi +1
i
ni

Equivalent Torque/force at actuator:

Revolution joint:

Prismatic joint:

Instructor: Dr. Dang Xuan ba 19

Example

Find the required torque at the actuators?  1  (−l1s1 − l2 s12 ) (l1c1 + l2 c12 ) 0  0
 = =  F
 2   −l2 s12 l2 c12 0

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Jacobian vs Force/Torque

Virtual Work (công):

The important relationship:

Note:

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Transformation of velocity and Static force

Velocity propagation with rotational Joint: (Lan truyền vận tốc)

i +1 = 0

 B i + 1

 A i

Velocity transformation: (chuyển đổi vận tốc)

Force Propagation: (Lan Truyền lực)

 B i + 1

 A i

Force/moment transformation.
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End of Chapter 4.

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