Chapter 3

Differential Motions and Velocities

3.5 INTERPRETATION OF THE DIFFERENTIAL CHANGE
 Matrix dT represents the changes in a frame as a result of differential
motions.
 Each element of the matrix represents the change in the corresponding
element of the frame.

 dnx dox da x dp x 
dn do da dp 
dT   y y y y

 dnz doz da z dp z 
 
 0 0 0 0 
 Chapter 3
Differential Motions and Velocities
3.6 DIFFERENTIAL CHANGES BETWEEN FRAMES
[T ]1[][T ]  [T ]1[T ][T ]
[dT ]  [][T ]  [T ][T ]
[T ]  [T ]1[][T ]

nx n y nz  p  n   0  z y dx 
o o y oz  p  o   z 0  x dy 
T 1    
x

a x a y az  p  a  y x 0 dz 
     T x    n
0 0 0 1   0 0 0 0  T
  y   o
 T z    a
 0  T z T y T
dx  
T  T
 z 0  T
x T
dy   d x  n  [(  p )  d ]
[T ][][T ]    T
1 T
 T d y  o  [(  p )  d ]
  y T x 0 T
dz 
  
 0 0 0 0   T d z  a  [(  p )  d ]
 Chapter 3
Differential Motions and Velocities
3.7 DIFFERENTIAL MOTIONS OF A ROBOT AND ITS HAND FRAME

 Relation between the differential motions of the joint of the robot and
the differential motions of the hand frame and dT.
 It is a function of the robot’s configuration and design and its instantaneous
location and orientation.

dx   d 1 
dy   d 
   2
dx   Robot  d 3  OR D   J D 
    d 
x
   Jacobian  4 
y   d 5 
   
z  d 6 
 Chapter 3
Differential Motions and Velocities
3.8 CALCULATION OF THE JACOBIAN

 Key point : Each element in the jacobian is the derivative of a corresponding

kinematic equation with respect to one of the variables.

Consult Example 2.19 and below….  p x

 1  J11   S1 (C234 a4  C23a3  C2 a2 )

 p x  J12  C1 ( S 234 a4  S 23a3  S 2 a2 )
  2
 p x  C1 (C234 a4  C23 a3  C2 a2 ) 
 p   S (C a  C a  C a )   p x  J13  C1 ( S 234 a4  S 23a3 )
  3
 x    1 234 4 23 3 2 2  
 p x   S 234 a4  S 23 a3  S 2 a2   p x  J14  C1 ( S 234 a4 )
Taking the derivative of px   4
     p x
1
   1    J15  0
  5
The last column of the forward  p x
kinematic equation of the robot   J16  0
  6
The first row of the Jacobian