ROBOTICS: KINEMATICS, DYNAMICS AND

MOTION CONTROL

VELOCITIES AND STATIC FORCES

Notations summary (Time varying position
and orientation)
Velocity of time varying position vector Q in frame {B}, by definition

The same reflected on frame {A}

Velocity of the origin of a translating frame {B} in terms of {A}

Angular velocity of a rotating frame {B} in terms of {A}

Linear Velocity
Linear velocity of Q in frame {B} which is moving relative to {A}
 Rotational Velocity
Rotational velocity of frame {B} with respect to {A},
, applied to
 Rotational Velocity
If vector Q is changing with respect to frame B
Simultaneous linear and rotational velocity
With moving at velocity in {B} and frame {B} moving at with respect to
{A}, the linear and rotational velocity of Q in moving and turning frame {B} with
respect to {A},
Velocity propagation from link to link
Velocity propagation from link to link
Velocity propagation of revolute joint

Velocity propagation of prismatic joint

 Jacobian
Cartesian velocities (linear and angular) of the end effector are linearly related to the
joint velocities.
Mapping between instantaneous end effector velocity instantaneous joint velocity are
done using jacobian.
= ( )( )̇
=6 1
=6
̇= 1
Jacobian
Jacobian
Jacobian
Jacobian
Jacobian
How to obtain Jacobian for a robot
Jacobian
Jacobian
Jacobian
Jacobian
Jacobian
Jacobian-Example
Jacobian-Example
Singularity-The concept
Singularity-The concept
How to find the singularity
Geometrical and physical meaning of
singularity
Where do singularity occurs
More on singularity
Summary- singularity
Summary- singularity
 Properties of the Jacobian -
Velocity Mapping and Singularities
 Properties of the Jacobian -
Velocity Mapping and Singularities
 Properties of the Jacobian -
Velocity Mapping and Singularities
 Properties of the Jacobian -
Velocity Mapping and Singularities
Jacobian: Velocity and static forces
Static analysis: Free body diagram
Static analysis: Free body diagram
Static analysis: Free body diagram
Static analysis: Free body diagram
Example
Example
Example
Example
Example
Jacobians in the force domain
Virtual work
Jacobian: Velocity and static forces
Jacobian in force domain
Cartesian transformation of velocities
and static forces
Example