Introduction to Robotics

Mechanics and Control

4th Edition

Chapter 05
Jacobians: Velocities and
Static Forces

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Figure 5.1
Example of some frames in linear motion.

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Figure 5.2
Frame {B} is rotating with angular velocity AWB relative to frame {A}.

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Figure 5.3
Frame {B} is translating with velocity AVBORG relative to frame {A}.

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Figure 5.4
Vector BQ, fixed in frame {B}, is rotating with respect to frame {A}
with angular velocity AWB.

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Figure 5.5
The velocity of a point due to an angular velocity.

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Figure 5.6
The velocity of link i is given by vectors ui and ωi , which may be
written in any frame, even frame {i}.

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Figure 5.7
Velocity vectors of neighboring links.

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Figure 5.8
A two-link manipulator.

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Figure 5.9
Frame assignments for the two-link manipulator.

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Figure 5.10
A two-link manipulator moving its tip at a constant linear velocity.

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Figure 5.11
Static force-moment balance for a single link.

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Figure 5.12
A two-link manipulator applying a force at its tip.

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Figure 5.13
Frames of interest with a force sensor.

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Un Figure
Resolved-Rate-Algorithm Block Diagram

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