ME 5286 Quiz #2 Review

Agenda and Quiz Overview

• Quiz 1 Review • Rapson 45 Next Friday
• Quiz 2, 2017 • Open book and open notes
• Problem 1, 2015 • Ebooks are not allowed
• Calculators are allowed
• Show all your work
• Write out equations before solving the
problem
Jacobian Overview
Jacobian Overview
𝐽𝐽
𝐽𝐽 = 𝑣𝑣
𝐽𝐽𝜔𝜔

The velocity Jacobian is:

𝐽𝐽𝑣𝑣 = 𝐽𝐽𝑣𝑣1 ⋯ 𝐽𝐽𝑣𝑣2
𝑧𝑧 × 𝑜𝑜𝑛𝑛 − 𝑜𝑜𝑖𝑖−1 for revolute joint 𝑖𝑖
𝐽𝐽𝑣𝑣𝑖𝑖 = � 𝑖𝑖−1
𝑧𝑧𝑖𝑖−1 for prismatic joint 𝑖𝑖

The angular velocity Jacobian is:

𝐽𝐽𝜔𝜔 = 𝐽𝐽𝜔𝜔1 ⋯ 𝐽𝐽𝜔𝜔2
𝑧𝑧 for revolute joint 𝑖𝑖
𝐽𝐽𝜔𝜔𝑖𝑖 = � 𝑖𝑖−1
0 for prismatic joint 𝑖𝑖
Problem 1 2017

Figure 1.1: The ‘RRR’ arm in its zero pose (straight up).
Part A and B
Part A (1 Point)

Suppose a robot has 8 joints. What would be the size of the Jacobian matrix for this robot? (What does m and n equal in “m x n”?)

m = 6, n = 8.

Part B (2 Points)

Explain what the columns and rows of the Jacobian signify.

The 6 elements in each column (one column per joint) represent how each robot joint moves
with respect to the base frame, i.e. the directional effect, resulting from the joint rates. The top 3
elements represent the translational effect and the bottom 3 elements represent the rotational
effect.

The 6 rows signify the contribution that each joint makes to the linear and angular velocity of
the end effector. The top three rows relate the overall linear velocity of the end effector to the
joint rates, while the bottom three rows relate the rotational velocity of the end effector to the
joint rates.
 Table 1.1: The D-H table for the ‘RRR’ robot.
Joint i θ (degrees) d (mm) a (mm) α (degrees)

Part C 1
2
3
𝜃𝜃1
𝜃𝜃2 − 90
𝜃𝜃3
0
0
0
0
𝐿𝐿1
𝐿𝐿2
-90
0
-90
Given the D-H Table (Table 1.1) clearly draw the coordinate frames that move with each joint
for the three rotational joint axes on Figure 1.1. The 𝐴𝐴 matrices are:

c1 0 −𝑠𝑠1 0 c2 −𝑠𝑠2 0 𝐿𝐿1 𝑐𝑐2 c3 0 −𝑠𝑠3 𝐿𝐿2 𝑐𝑐2

𝑠𝑠 0 𝑐𝑐1 0 𝑠𝑠 𝑐𝑐2 0 𝐿𝐿1 𝑠𝑠2 𝑠𝑠 0 𝑐𝑐3 𝐿𝐿2 𝑠𝑠2
𝐴𝐴10 = 1 , 𝐴𝐴12 = 2 , 𝐴𝐴32 = 3
0 −1 0 0 0 0 1 0 0 −1 0 0
0 0 0 1 0 0 0 1 0 0 0 1

c23 𝑐𝑐1 𝑠𝑠1 −𝑠𝑠23 𝑐𝑐1 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2
𝑇𝑇03 = 𝑐𝑐23 𝑠𝑠1 −𝑐𝑐1 −𝑠𝑠23 𝑠𝑠1 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2
−𝑠𝑠23 0 −𝑐𝑐23 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2
0 0 0 1
 Table 1.1: The D-H table for the ‘RRR’ robot.
Joint i θ (degrees) d (mm) a (mm) α (degrees)

Part D 1
2
3
𝜃𝜃1
𝜃𝜃2 − 90
𝜃𝜃3
0
0
0
0
𝐿𝐿1
𝐿𝐿2
-90
0
-90
Calculate the symbolic Jacobian for the robot shown in Figure 1.1 using the D-H parameters of
Table 1.1. The 𝐴𝐴 matrices are:

The robot has 3 links, therefore, the size of the Jacobian is 6x3.
c1 0 −𝑠𝑠1 0 c2 −𝑠𝑠2 0 𝐿𝐿1 𝑐𝑐2 c3 0 −𝑠𝑠3 𝐿𝐿2 𝑐𝑐2
𝑠𝑠 0 𝑐𝑐1 0 𝑠𝑠 𝑐𝑐2 0 𝐿𝐿1 𝑠𝑠2 𝑠𝑠 0 𝑐𝑐3 𝐿𝐿2 𝑠𝑠2
0 −𝑠𝑠1 −𝑠𝑠1 𝐴𝐴10 = 1 , 𝐴𝐴12 = 2 , 𝐴𝐴32 = 3
0 −1 0 0 0 0 1 0 0 −1 0 0
𝑍𝑍0 = 0 , 𝑍𝑍1 = 𝑐𝑐1 , 𝑍𝑍2 = 𝑐𝑐1
0 0 0 1 0 0 0 1 0 0 0 1
1 0 0
c23 𝑐𝑐1 𝑠𝑠1 −𝑠𝑠23 𝑐𝑐1 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2
0 0 𝐿𝐿1 𝑐𝑐1 𝑐𝑐2 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2
𝐿𝐿 𝑠𝑠 𝑐𝑐
𝑂𝑂0 = 0 , 𝑂𝑂1 = 0 , 𝑂𝑂2 = 1 1 2 , 𝑂𝑂3 = 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 𝑇𝑇03 = 𝑐𝑐23 𝑠𝑠1 −𝑐𝑐1 −𝑠𝑠23 𝑠𝑠1 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2
−𝑠𝑠23 0 −𝑐𝑐23 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2
0 0 −𝐿𝐿1 𝑠𝑠2 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2
0 0 0 1

Calculate 𝑅𝑅𝑖𝑖−1 with 𝑅𝑅𝑖𝑖−1 = 𝑍𝑍𝑖𝑖−1 × 𝑂𝑂𝑛𝑛 − 𝑂𝑂𝑖𝑖−1

0 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 0 −𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 𝑅𝑅0 𝑅𝑅1 𝑅𝑅2
𝑅𝑅0 = 0 × 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 − 0 = 𝑐𝑐1 (𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 ) 𝐽𝐽 =
𝑍𝑍0 𝑍𝑍1 𝑍𝑍2
1 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2 0 0
−𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 −𝑐𝑐1 𝐿𝐿2 𝑠𝑠23 + 𝐿𝐿1 𝑠𝑠2 −𝐿𝐿2 𝑠𝑠23 𝑐𝑐1
−𝑠𝑠1 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 0 −𝑐𝑐1 𝐿𝐿2 𝑠𝑠23 + 𝐿𝐿1 𝑠𝑠2 𝑐𝑐1 (𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 ) −𝑠𝑠1 (𝐿𝐿2 𝑠𝑠23 + 𝐿𝐿1 𝑠𝑠2 ) −𝐿𝐿2 𝑠𝑠23 𝑠𝑠1
𝑅𝑅1 = 𝑐𝑐1 × 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 − 0 = −𝑠𝑠1 (𝐿𝐿2 𝑠𝑠23 + 𝐿𝐿1 𝑠𝑠2 ) 0 −𝐿𝐿2 𝑐𝑐23 − 𝐿𝐿1 𝑐𝑐2 −𝐿𝐿2 𝑐𝑐23
0 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2 0 −𝐿𝐿2 𝑐𝑐23 − 𝐿𝐿1 𝑐𝑐2 𝐽𝐽 =
0 −𝑠𝑠1 −𝑠𝑠1
0 𝑐𝑐1 𝑐𝑐1
−𝑠𝑠1 𝑐𝑐1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 𝐿𝐿1 𝑐𝑐1 𝑐𝑐2 −𝐿𝐿2 𝑠𝑠23 𝑐𝑐1 1 0 0
𝑅𝑅2 = 𝑐𝑐1 × 𝑠𝑠1 𝐿𝐿2 𝑐𝑐23 + 𝐿𝐿1 𝑐𝑐2 − 𝐿𝐿1 𝑠𝑠1 𝑐𝑐2 = −𝐿𝐿2 𝑠𝑠23 𝑠𝑠1
0 −𝐿𝐿2 𝑠𝑠23 − 𝐿𝐿1 𝑠𝑠2 −𝐿𝐿1 𝑠𝑠2 −𝐿𝐿2 𝑐𝑐23
Problem 2 2017
The UR5 is a lightweight 6 jointed robot arm which can work in collaborative environments
with humans. The UR5 is primarily utilized in manufacturing tasks. The UR5’s D-H table is
given in Table 2.1 and the joint coordinates are shown in Figure 2.1.

The robot passes through 𝜃𝜃 = 30, −45, 80, 216, −70, 0 𝑑𝑑𝑑𝑑𝑑𝑑 resulting in the following
Jacobian matrix and transformation matrix:

0.49 −0.03 0.23 0.04 0.05 0

−0.57 −0.02 0.13 0.02 −0.06 0
0 −0.74 −0.44 −0.11 0.03 0
𝐽𝐽𝑈𝑈𝑈𝑈𝑈 =
0 0.50 0.50 0.50 −0.82 −0.1
0 −0.87 −0.87 −0.87 −0.47 −0.45
1 0 0 0 0.33 −0.89

−0.57 0.82 −0.09 −0.57

0.76 0.47 −0.45 −0.49
𝑇𝑇𝑈𝑈𝑈𝑈𝑈 =
−0.32 −0.33 −0.89 0.12
0 0 0 1
Part A Solving for the joint velocities 𝑄𝑄̇ yields:

Part A (7 Points) 𝑄𝑄̇ = 𝐽𝐽𝑈𝑈𝑈𝑈𝑈

−1 ̇
𝑃𝑃
A sensor records the velocity at the end-effector (EE) at 𝑉𝑉𝐸𝐸𝐸𝐸 = 0.5 0.6 −0.1 𝑚𝑚/𝑠𝑠 and
𝜔𝜔𝐸𝐸𝐸𝐸 = −0.7 0.2 0.3 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠. Calculate the joint velocities at this instance in time. Report
your answer in 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠. 0.70 −1.22 0 0.09 0.05 −0.04 0.5
−1.50 −1.32 −1.37 −0.06 0.05 −0.02 0.6
0.49 −0.03 0.23 0.04 0.05 0 2.97 2.43 −0.46 −0.15 0.16 −0.07 −0.1
𝑄𝑄̇ =
−0.57 −0.02 0.13 0.02 −0.06 0 −1.71 −0.69 1.83 0.79 −1.03 0.44 −0.7
0 −0.74 −0.44 −0.11 0.03 0 −0.23 0.40 0 −0.85 −0.49 0.34 0.2
𝐽𝐽𝑈𝑈𝑈𝑈𝑈 = 0.71 −1.23 0 −0.21 −0.12 −1.04 0.3
0 0.50 0.50 0.50 −0.82 −0.1
0 −0.87 −0.87 −0.87 −0.47 −0.45
1 0 0 0 0.33 −0.89

−0.57 0.82 −0.09 −0.57

0.76 0.47 −0.45 −0.49 We can then use a calculator to take the inverse of 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 and solve the above
𝑇𝑇𝑈𝑈𝑈𝑈𝑈 =
−0.32 −0.33 −0.89 0.12 equation to get the joint velocities.
0 0 0 1
𝑄𝑄̇ = −0.44 −1.35 3.11 −2.08 0.72 −0.57 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

Base equation:

𝑃𝑃̇ = 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 𝑄𝑄̇

Where 𝑄𝑄̇ is the joint velocities that we are solving for, 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 is the Jacobian at the specified
angles, and 𝑃𝑃̇ is the linear and angular velocity of the end-effector in reference to the base frame
𝑉𝑉
(i.e. 𝑃𝑃̇ = 𝐸𝐸𝐸𝐸 ).
𝜔𝜔𝐸𝐸𝐸𝐸
Part B
Part B (7 Points)
Consider the robot colliding with an object at the joint angles, 𝜃𝜃, and Jacobian, 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 , described
above. This causes a reaction force and torque at the end-effector. The measured force and
torque are 𝐹𝐹𝐸𝐸𝐸𝐸 = −137.0 283.9 197.2 𝑇𝑇 𝑁𝑁 and 𝜏𝜏𝐸𝐸𝐸𝐸 = 17.7 −16.7 28.0 𝑇𝑇 𝑁𝑁𝑁𝑁
respectively. Solving for the joint torque yields:
Calculate the torques that must be generated by each joint in the arm when applying the given
force and torque vectors, 𝐹𝐹𝐸𝐸𝐸𝐸 & 𝜏𝜏𝐸𝐸𝐸𝐸 , and the Jacobian, 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 . Report your answer in 𝑁𝑁𝑁𝑁. 0.49 −0.57 0 0 0 1 293.14
−0.03 −0.02 −0.74 0.50 −0.87 0 −59.43
0.49 −0.03 0.23 0.04 0.05 0
0.23 0.13 −0.44 0.50 −0.87 0 −225.36
−0.57 −0.02 0.13 0.02 −0.06 0 𝜏𝜏 =
0.04 0.02 −0.11 0.50 −0.87 0 −26.3
0 −0.74 −0.44 −0.11 0.03 0
𝐽𝐽𝑈𝑈𝑈𝑈𝑈 = 0.05 −0.06 0.03 −0.82 −0.47 0.33 −7
0 0.50 0.50 0.50 −0.82 −0.1
0 0 0 −0.1 −0.45 −0.89 −25.07
0 −0.87 −0.87 −0.87 −0.47 −0.45
1 0 0 0 0.33 −0.89
𝑇𝑇
−0.57 0.82 −0.09 −0.57 𝜏𝜏 = 150 150 150 28 28 28 𝑁𝑁𝑁𝑁
0.76 0.47 −0.45 −0.49
𝑇𝑇𝑈𝑈𝑈𝑈𝑈 =
−0.32 −0.33 −0.89 0.12 These are the maximum joint torques for this robot.
0 0 0 1

𝑇𝑇
𝜏𝜏 = 𝐽𝐽𝑈𝑈𝑈𝑈𝑈 𝐹𝐹0

𝑅𝑅𝑈𝑈𝑈𝑈𝑈 𝐹𝐹𝐸𝐸𝐸𝐸
𝐹𝐹0 =
𝑅𝑅𝑈𝑈𝑈𝑈𝑈 𝜏𝜏𝐸𝐸𝐸𝐸
𝑇𝑇
= 293.14 𝑁𝑁 −59.43 𝑁𝑁 −225.36 𝑁𝑁 −26.3 𝑁𝑁𝑁𝑁 −7 𝑁𝑁𝑁𝑁 −25.07 𝑁𝑁𝑁𝑁
Problem 1 2015
A. (3 Points) Using the joint axes shown in Figure 1.3 and the D-H parameters given in Table1, sketch the base
coordinate frame 0 (𝑋𝑋0 . 𝑌𝑌0 , 𝑍𝑍0 ) and coordinate frame 3 (𝑋𝑋3 . 𝑌𝑌3 , 𝑍𝑍3 ) on Figure 1.3.

𝑦𝑦3 Joint i θ d (m) a (m) α

𝑧𝑧3 1 𝜃𝜃1 0.3 0 −90°

2 𝜃𝜃2 0.3 0 90°
𝑥𝑥3 3 𝜃𝜃3 0.5 0 90°
4 𝜃𝜃4 0.2 0 −90°
5 𝜃𝜃5 0.4 0 −90°
6 𝜃𝜃6 0.1 0 90°
7 𝜃𝜃7 0.1 0 0°
𝑧𝑧0

𝑦𝑦0
𝑥𝑥0
 B. (5 Points) Calculate the Jacobian for the Sawyer arm. Use Figures 1.3 – 1.4 and Table 1 in order to obtain the
coordinate frames and dimension information. Note: all the joints are depicted in their zero positions in Figures 1.3
– 1.4. Note also that 𝜃𝜃𝑖𝑖 = 0 for each joint.

The Jacobian is then constructed as:

𝑅𝑅 𝑅𝑅1 … 𝑅𝑅𝑛𝑛
𝐽𝐽 = 0
𝑍𝑍0 𝑍𝑍1 … 𝑍𝑍𝑛𝑛
Where:
𝑅𝑅𝑖𝑖−1 = 𝑍𝑍𝑖𝑖−1 𝑥𝑥 𝑂𝑂𝑛𝑛 − 𝑂𝑂𝑖𝑖−1
We can use figure 1.3 to observe the following unit vectors for the joint axes:

𝑧𝑧0 0 0 0 0 0 0 0
𝑍𝑍0 = 0 , 𝑍𝑍1 = 1 , 𝑍𝑍2 = 0 , 𝑍𝑍3 = −1 , 𝑍𝑍4 = 0 , 𝑍𝑍5 = 1 , 𝑍𝑍6 = 0
𝑦𝑦0 1 0 1 0 1 0 1
𝑥𝑥0
And using the distances from figure 1.3 we see:
Joint i θ d (m) a (m) α
1 𝜃𝜃1 0.3 0 −90° 0 0 0 0 0 0 0
2 𝜃𝜃2 0.3 0 90°
𝑂𝑂0 = 0 , 𝑂𝑂1 = 0 , 𝑂𝑂2 = 0.3 , 𝑂𝑂3 = 0.3 , 𝑂𝑂4 = 0.1 , 𝑂𝑂5 = 0.1 , 𝑂𝑂6 = 0.2
0 0.3 0.3 0.8 0.8 1.2 1.3
3 𝜃𝜃3 0.5 0 90°
4 𝜃𝜃4 0.2 0 −90°
5 𝜃𝜃5 0.4 0 −90°
Next we apply 𝑅𝑅𝑖𝑖−1 and then plug each 𝑅𝑅𝑖𝑖−1 and 𝑍𝑍𝑖𝑖−1 into the Jacobian.
6 𝜃𝜃6 0.1 0 90°
7 𝜃𝜃7 0.1 0 0°
 B. (5 Points) Calculate the Jacobian for the Sawyer arm. Use Figures 1.3 – 1.4 and Table 1 in order to obtain the
coordinate frames and dimension information. Note: all the joints are depicted in their zero positions in Figures 1.3
– 1.4. Note also that 𝜃𝜃𝑖𝑖 = 0 for each joint.
0 0 0 −0.1
Next we apply 𝑅𝑅𝑖𝑖−1 and then plug each 𝑅𝑅𝑖𝑖−1 and 𝑍𝑍𝑖𝑖−1 into the Jacobian. 𝑅𝑅4 = 0 𝑥𝑥 0.2 − 0.1 = 0
1 1.3 0.8 0
Finding the standard equations for R:
0 0 0 0.1
0 0 0 −0.2 𝑅𝑅5 = 1 𝑥𝑥 0.2 − 0.1 = 0
𝑅𝑅0 = 0 𝑥𝑥 0.2 − 0 = 0 0 1.3 1.2 0
1 1.3 0 0
0 0 0 0
0 0 0 1 𝑅𝑅6 = 0 𝑥𝑥 0.2 − 0.2 = 0
𝑅𝑅1 = 1 𝑥𝑥 0.2 − 0 = 0 1 1.3 1.3 0
0 1.3 0.3 0
We construct the 6x7 Jacobian:
0 0 0 0.1
𝑅𝑅2 = 0 𝑥𝑥 0.2 − 0.3 = 0 −0.2 1 0.1−0.5 −0.1 0.1 0
1 1.3 0.3 0 0 0 0 0 0 0 0
0 0 0 −0.5 𝐽𝐽 = 0 0 0 0 0 0 0
0 0 0 0 0 0 0
𝑅𝑅3 = −1 𝑥𝑥 0.2 − 0.3 = 0 0 1 0 −1 0 1 0
0 1.3 0.8 0 1 0 1 0 1 0 1
 C. (4 Points) Assume that at an instant in time, Sawyer passes through the zero position. This happens with the
following joint velocities.
𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟
𝜔𝜔1 = 0.7 , 𝜔𝜔2 = 0.4 , 𝜔𝜔3 = 0.6 , 𝜔𝜔4 = 0.1 , 𝜔𝜔5 = 0.3 , 𝜔𝜔6 = 0 , 𝜔𝜔7 = 0.6
𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠
Calculate the velocity of the ‘end effector’ on the Sawyer arm with respect to the base frame (𝑋𝑋0 , 𝑌𝑌0 , 𝑍𝑍0 ). You
must determine both the rotational and translational velocity.

In order to find the velocity of the end Then we utilize the Jacobian found in part B which gives us:
effector we use the equation:
−0.2 1 0.1−0.5 −0.1 0.1 0 0.7
𝑃𝑃̇ = 𝐽𝐽 𝑄𝑄̇ 0 0 0 0 0 0 0 0.4
𝑃𝑃̇ = 𝐽𝐽 𝑄𝑄̇ = 0 0 0 0 0 0 0 0.6
So we construct the Q vector using 0 0 0 0 0 0 0 0.1
the given joint velocities as: 0 1 0 −1 0 1 0 0.3
1 0 1 0 1 0 1 0.6
0.7
0.4
0.24 𝑚𝑚/𝑠𝑠
𝑄𝑄̇ = 0.6 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠
0.1 0
0.3 0
𝑃𝑃̇ = 0
0.6
0.3 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠
2.2 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠
 D. (4 Points) The Sawyer is required to exert a force at the end effector as it passes through the zero pose where the
force vector is 𝐹𝐹𝐸𝐸 = [8 𝑁𝑁, 0 𝑁𝑁, −15 𝑁𝑁]𝑇𝑇 . Using the Jacobian determined in Part B and the given force vectors;
calculate the torques required by each joint in the arm while applying the necessary force. Indicate units.

In order to calculate the torques we use: To compute the joint torque column 6 of the Jacobian is frozen:
𝜏𝜏 = 𝐽𝐽𝑇𝑇 𝐹𝐹 0 −0.2 1 0.1−0.5 −0.1 0 8
0 0 0 0 0 0 0
We start by rotating the force at the end-effector 𝜏𝜏 = 𝐽𝐽𝑇𝑇 𝐹𝐹 0 = 0 0 0 0 0 0 −15
back to the base frame with: 0 0 0 0 0 0 0
0 1 0 −1 0 0 0
1 0 0 1 0 1 0 1 1 0
𝑅𝑅0𝐸𝐸
= 0 1 0
0 0 1
Rotating the force back yields: −1.6
8
8 𝜏𝜏 = 0.8 𝑁𝑁𝑁𝑁
0 −4
−0.8
𝐹𝐹 0 = −15 0
0
0
0