로봇 공학 (MES321)

• Practice 7
- velocity propagation
- Jacobian

• HW

Prof. Seungryeol Yoo

School of Mechanical Engineering
Korea University of Technology and Education
 로봇공학 S. Yoo 2/21

Jacobian
v Jacobian is a multidimensional form of the derivative
v Example for six functions
 =  ( ,  ,  ,  ,  ,  )
 =  ( ,  ,  ,  ,  ,  )  = ()
⋮
 =  ( ,  ,  ,  ,  ,  )

v Differentials of  as a function of differentials of 

   Dividing both side
 =  +   ⋯ +  
  
by the differential
    time element 
 =  +   ⋯ +    = X
   
⋮ 
̇ = ̇=()̇
   
 =  +   ⋯ +  
  

Jacobian (6x6 Matrix)

 로봇공학 S. Yoo 3/21

Jacobian
v For the general case of a six-jointed robot
 
  : 6x1 cartesian velocity vector

=  = (Θ)Θ̇ 
 : 3x1 linear velocity vector
  : 3x1 angular velocity vector

Θ̇ : 6x1 joint angular velocity

v Jacobian meaning in the field of robotics
Cartesian velocities of
End-effector of the robot

 = (Θ)Θ̇ Joint velocities

v In case if 2-link robot, we have 2x2 Jacobian that related joint rate to end-effector
velocity

−  ̇ −   (̇ + ̇ ) −  −   − 

 
 =   ̇ +   (̇ + ̇ ) (Θ) =
  +    
0
v Jacobian
§ The number of row ▶▶▶▶ The number of DOF in the Cartesian space
§ The number of column ▶▶▶▶ The number of joints of the robot
 로봇공학 S. Yoo 4/21

Kinematic Singularity
v Singular Point of 2-link robot
det( J ( q )) = 0
é- l S - l S - l2 S12 ù éa bù
det( J ( q )) = det ê 1 1 2 12
ë l1C1 + l2C12 l2C12 úû det ê
d úû
= ad - bc
ëc
= -(l1S1 + l2 S12 )l2C12 + l2 S12 (l1C1 + l2C12 )
2 2
sin( A + B ) = sin A cos B + cos A sin B
= -l1l2 S1C12 - l2 S12C12 + l1l2C1S12 + l2 S12C12
= l1l2 ( S12C1 - C12 S1 ) = l1l2 sin( q1 + q2 - q1 )
= l1l2 sin( q2 )

l1l2 sin( q2 ) = 0 q2 = 0 또는 ± p

q2 = 0 일때의
q2 = ±p 일때의
singular points
singular points
 로봇공학 S. Yoo 5/21

Jacobians in the Force Domain

v Work is the dot product of a vector force (or torque vector) and a vector
displacement
   =   
v Definition of Jacobian  = 

v we may write    =   

v It must hold for all    =    =  

v When the Jacobian is written with respect to frame {0}, then the force vector written
in {0} is
 =   
 로봇공학 S. Yoo 6/21

VELOCITY "PROPAGATION" FROM LINK TO LINK

v Linear Velocity of revolute joint
§ Velocity vectors of neighboring links
• Linear velocity of the origin of frame {i+1}
expressed in terms of frame {i}

 =   +   × 
where  : linear velocity of the origin of frame {i}

• Linear velocity of the origin of frame {i+1} expressed

in terms of frame {i+1}

- pre-multiplying both side by 

  
 =   (  +  ×   )
 로봇공학 S. Yoo 7/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Setup Frames
§ Find DH parameters
§ Find Homogenous Transformation {0}
§ Find Kinematics
§ Find Jacobian
§ Find velocity for q =[pi/6 –pi/4] radian, ̇ =[1 2] radian/sec
§ Find each torque to generate force  = [ 1 0 ] N
 로봇공학 S. Yoo 8/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Setup Frames

{0}
 로봇공학 S. Yoo 9/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Find DH parameters

i    

1  0 0 0
2  0  0

e 0 0  0
 로봇공학 S. Yoo 10/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Find Homogenous Transformation i    

 − 0  1  0 0 0

     − −  2  0  0
  =
     
e 0 0  0
0 0 0 1
 − 0 0  − 0  1 0 0 
   0 0    0 0  = 0 1 0 0
  =   = 
0 0 1 0
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1

 − 0   +   

 =    =     0   +   
   
0 0 1 0
0 0 0 1
 로봇공학 S. Yoo 11/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Find Jacobian
 
  −  0   +  
 
 =    0   +    J(q) =
  
0 0 1 0  
0 0 0 1

   +    =   ,  =   +   

 =
  +     =   ,  =   +   

−  −   −  

=
  +     
 로봇공학 S. Yoo 12/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Find velocity for q =[pi/6 –pi/4] radian, ̇ =[1 2] radian/sec and  = 1,  = 1

̇  ̇ −  −    −   ̇

= =
̇ ̇   +       ̇

−0.2412 0.2588 1 0.2765

= =
1.832 0.9659 2 3.7638

V
 로봇공학 S. Yoo 13/21

Kinematics of 2 Links RR Robot

v Practice 1
§ Find each torque to generate force  = [ 1 0 ] N

   −0.2412 1.832 1 −0.2412

 =  = =
 0.2588 0.9659 0 0.2588





 로봇공학 S. Yoo 14/21

clear all
syms t1 t2 t3 L1 L2

t3 = 0;
T0_1 = [ cos(t1) -sin(t1) 0 0 ; sin(t1) cos(t1) 0 0 ; 0 0 1 0; 0 0 0 1];
T1_2 = [ cos(t2) -sin(t2) 0 L1 ; sin(t2) cos(t2) 0 0 ; 0 0 1 0; 0 0 0 1];
T2_e = [ cos(t3) -sin(t3) 0 L2 ; sin(t3) cos(t3) 0 0 ; 0 0 1 0; 0 0 0 1]
T = T0_1*T1_2*T2_e;
J = [ - L1*sin(t1)-L2*sin(t1 + t2) -L2*sin(t1 + t2) ; L1*cos(t1)+L2*cos(t1 + t2)
L2*cos(t1 + t2) ]
simplify(T)

q = ([ pi/6 -pi/4 ]);

t1 = q(1); t2 = q(2);
eval(T);
eval(J);
 로봇공학 S. Yoo 15/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Setup Frames 
§ Find DH parameters
§ Find Homogenous Transformation
§ Find Kinematics
§ Find Jacobian 
§ Find velocity for q =[pi/6 0.2], ̇ =[1 2]
§ Find each torque to generate forces at q =[pi/6 0.5]

• =[110]N

• =[101]N
 로봇공학 S. Yoo 16/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Setup Frames
 로봇공학 S. Yoo 17/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Find DH parameters

i    

1   0 0
2 0  0 90°
 로봇공학 S. Yoo 18/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Find Homogenous Transformation
i    
 − 0 
     − −  1   0 0
  =
     
2 0  0 90°
0 0 0 1

 − 0 0 1 0 0 0
  0 0  0 0 −1 −

 =  =
0 1 0 0
0 0 1 
0 0 0 1
0 0 0 1

 0   

    0 − − 
  = 
   =
0 1 0 
0 0 0 1
 로봇공학 S. Yoo 19/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Find Kinematics  
 
 0     
 0 − −  J(q) =
  
 =
0 1 0   
0 0 0 1  

    =   ,  =  
 = −   =   ,  = − 
   =   ,  = 

  
 =   −
0 0
 로봇공학 S. Yoo 20/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Find velocity for q =[pi/6 0.2], ̇ =[1 2] for  = 1

̇   
̇ ̇
̇ =  =   −
 ̇ 
̇ 0 0

0.1732 0.5 1.1732

1
= 0.5 −0.866 = −1.6321
2
0 0 0
 로봇공학 S. Yoo 21/21

Kinematics of 2 Links RP Robot

v Practice 2
§ Find each torque to generate force  = [ 1 1 0 ] N

 1
   0.1732 0.1 0 0.2732
=   = 1 =
 0.5 0.866 0 −0.366
 0

§ Find each torque to generate force  = [ 1 0 1 ] N

 1
   0.1732 0.1 0 0.1732
 =   = 0.5 0.866 0
0 =
0.5
 1