Chapter 5 : Direct kinematic model (DKM) of manipulator robot

with simple open Chain

5.1 Introduction
The direct kinematic model of a manipulator robot describes the speeds of operational
coordinates as a function of joint speeds. It is noted:

Xɺ = J ( q ) qɺ

where J(q) designates an (m×n) Jacobian matrix of the mechanism, equal to ∂X and
∂q
is a function of the joint configuration q. The same Jacobian matrix is involved in the
calculation of the direct differential model which gives the elementary variations dx of
the operational coordinates as a function of the elementary variations of the joint
coordinates dq, i.e.:
dx = J(q)dq
5.2 Interest of the Jacobian matrix
There are three interests of the Jacobian matrix:
1) It is the basis of the opposite differential model, making it possible to calculate a
local solution of the articular variables q knowing the operational coordinates x.
2) In static, the Jacobian is used to establish the relationship linking the efforts
exercised by the terminal organ on the environment to the forces and couples of
the actuators
3) It facilitates the calculation of singularities and the dimension of the operational
space accessible by the robot
5.3 Calculation of the Jacobian matrix by derivation of the DGM
The calculation of the Jacobian matrix can be done by deriving the MGD (X = f (q))
from the following relation:

∂fi ( q )
J ij = i = 1,..., m; j = 1,..., n
∂q j

where Jij is the element (i, j) of the Jacobian matrix J. This method is easy to implement
for two -degree robots. There is another method based on the calculation of the basic
Jacobian which is practical for robots with more than three degrees of freedom.
Example 1:
The direct geometric model of a planar manipulator robot with 2 DOF is given by the
following formula:

where: L1 and L2 are the lengths of the robot segments; θ1 and θ2 are the joint variables;
x and y are the operational coordinates.
- Calculate the direct kinematic model (DKM) of this robot
- Find the singularities of this robot

Example 2:
We consider a three-degree-of-freedom (DOF) planar manipulator robot, shown in
figure below.

where: L1, L2 and L3 are the lengths of the robot segments; θ1, θ2 and θ3 are the joint
variables
calculate :
- The direct geometric model (DGM) of this robot by two methods
- The direct kinematic model (DKM)
- The singularities of this robot