6 Velocity Kinematics Jacobi

Robotics 6.
01 Lecture 6
06. Velocity Kinematics
HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
Robotics 6.02 Lecture 6
CONTENTS
1. RIGID LINK VELOCITY
2. FORWARD VELOCITY KINEMATICS
3. JACOBIAN GENERATING VECTORS
4. INVERSE VELOCITY KINEMATICS
5. APPLICATION OF JACOBIAN IN STATIC FORCE
6. RUBRICS FOR ORAL PRESENTATION
• Velocity analysis of a robot is divided into forward and inverse velocity

kinematics
• Having the time rate of joint variables and determination of the Cartesian
velocity of end-effector in the global coordinate frame is the forward
velocity kinematics
• Determination of the time rate of joint variables based on the velocity of

end-effector is the inverse velocity kinematics
I. RIGID LINK VELOCITY

• Every link of an industrial robot has an angular velocity 𝝎 or a
translational velocity 𝐝 with respect to its neighbor links
• The angular velocity of link 𝑖 in the global coordinate frame 𝑩0 is a
summation of global angular velocities of the links 𝑗 , for 𝑗 ≤ 𝑖
𝑖
0 0
0𝝎𝑖 = 𝑗−1𝝎𝑗
𝑗=1
Where
0
0 𝜃𝑗 𝒌𝑗−1 if joint 𝑖 is 𝐑
𝝎
𝑗−1 𝑗 =
0 if joint 𝑖 is 𝐏

• Velocity of origin of 𝑩𝑖 attached to link 𝑖 in base coordinate frame is
0 0
0 𝝎
0 𝑖 × 𝑖−1𝐝𝑖 if joint 𝑖 is R
𝑖−1𝐝𝑖 =
𝑑𝑖 0𝒌𝑖−1 + 00𝝎𝑖 × 𝑖−10𝐝𝑖 if joint 𝑖 is P
Where 𝜃 and 𝑑 are DH parameters, and d is a frame’s origin position vector
• Therefore, if a robot has 𝑛 links, the global angular velocity of the final
coordinate frame is
𝑛
0 0
0𝝎𝑛 = 𝑖−1𝝎𝑖
𝑖=1
And the global velocity vector of the last link’s coordinate frame is
𝑛
0 0
0𝐝𝑛 = 𝑖−1𝐝𝑖
𝑖=1

• Example 239 (Serial rigid links angular velocity)
Consider a serial manipulator with 𝑛 links and 𝑛 revolute joints.
The global angular velocity of link 𝑖 in terms of the angular velocity of its
previous links is
0
𝝎𝑖 = 0𝝎𝑖−1 + 𝜃𝑖 0𝒌𝑖−1
Or in general
𝑖
0
𝝎𝑖 = 𝜃𝑗 0𝒌𝑗−1
𝑗=1
Because
0
𝑖−1𝝎𝑖 = 𝜃𝑖 0𝒌𝑖−1
0
𝑖−2𝝎𝑖−1 = 𝜃𝑖−1 0𝒌𝑖−2
0
𝑖−2𝝎𝑖
= 𝑖−20𝝎𝑖−1 + 𝑖−10𝝎𝑖 = 0
𝑖−2𝝎𝑖−1 + 𝜃𝑖 0𝒌𝑖−1 = 𝜃𝑖−1 0𝒌𝑖−2 + 𝜃𝑖 0𝒌𝑖−1

And therefore
𝑖−1 𝑖−1
0
𝝎𝑖 = 0
𝑗−1𝝎𝑗 + 𝜃𝑖 0𝒌𝑖−1 = 𝜃𝑗 0𝒌𝑗−1 + 𝜃𝑖 0𝒌𝑖−1
𝑗=1 𝑗=1
𝑖
= 𝜃𝑗 0𝒌𝑗−1
𝑗=1

• Example 240 (Serial rigid links translational velocity)
The global translational velocity of link 𝑖 in a serial manipulator in
terms of the translational velocity of its previous links is
0
𝐯𝑖 = 0𝐯𝑖−1 + 00𝝎𝑖 × 𝑖−10𝐝𝑖
Where
0
𝐯𝑖 = 0𝐝𝑖
Or in general
𝑖
0 0
𝐯𝑖 = 𝒌𝑗−1 × 𝑖−10𝐝𝑖 𝜃𝑗
𝑗=1

Because
0
𝑖−1𝐯𝑖 = 0𝝎𝑖 × 𝑖−10𝐝𝑖
0
𝑖−2𝐯𝑖−1 = 0𝝎𝑖−1 × 𝑖−20𝐝𝑖−1
0 0
𝑖−2𝐯𝑖 = 𝑖−2𝐯𝑖−1 + 𝑖−10𝐯𝑖 = 0
𝑖−2𝐯𝑖−1 + 0𝝎𝑖 × 𝑖−10𝐝𝑖
= 0𝝎𝑖−1 × 𝑖−20𝐝𝑖−1 + 0𝝎𝑖 × 𝑖−10𝐝𝑖
= 𝜃𝑖−1 0𝒌𝑖−2 × 𝑖−20𝐝𝑖−1 + 𝜃𝑖 0𝒌𝑖−1 × 𝑖−10𝐝𝑖
And therefore
𝑖−1 𝑖
0 0 0
𝐯𝑖 = 𝑗−1𝐯𝑗 + 𝑖−10𝐯𝑖 = 𝒌𝑗−1 × 𝑖−10𝐝𝑖 𝜃𝑗
𝑗=1 𝑗=1

• Example 241 (Recursive velocity in Base frame)
The time derivative of a homogeneous transformation matrix 𝑻 can be
arranged in the form
𝑻= 𝑽 𝑻
The transformation matrix 0𝑻𝑖 is
0
𝑻𝑖 = 0𝑻1 1𝑻2 2𝑻3 ⋯ 𝑖−1𝑻𝑖
And the matrices 0𝑽𝑖 and 0𝑽𝑖+1 are
0
𝑽𝑖 = 0𝑻𝑖 0𝑻𝑖−1
0
𝑽𝑖+1
0 0 −1 𝑑 0 𝑖
= 𝑻𝑖+1 𝑻𝑖+1 = 𝑻𝑖 𝑻𝑖+1 0𝑻−1𝑖+1 = 0
𝑻 𝑖
𝑖
𝑻 𝑖+1 + 0
𝑻 𝑖
𝑖
𝑻𝑖+1 0 −1
𝑻𝑖+1
𝑑𝑡
These two equations can be combined as a recursive formula
0
𝑽𝑖+1 = 0𝑽𝑖 + 0𝑻𝑖 𝑖 𝑽𝑖+1 0𝑻−1 𝑖

For a revolute joint, the velocity transformation matrix is
0 −1 0 0
𝑖
𝑖
𝑽𝑖+1 = 𝜃𝑖+1 1 0 0 0 = 𝜃𝑖+1 𝒌𝑖 0
0 0 0 0 0 0
0 0 0 0
Then we have
0 0
𝝎
0 𝑖+1 = 0 𝑖𝝎 + 𝝎
𝑖 𝑖+1 = 𝝎
0 𝑖 + 𝜃𝑖+1 𝒌𝑖
0
𝐝𝑖+1 = 0𝐝𝑖 + 0𝑖 𝐝𝑖+1 = 0𝐝𝑖 + 0𝝎𝑖+1 0𝐝𝑖+1 − 0𝐝𝑖

For a prismatic joint, the velocity coefficient matrix formula is
0 0 0 0
𝑖
𝑖
𝑽𝑖+1 = 𝑑𝑖+1 0 0 0 0 = 𝑑𝑖+1 0 𝒌𝑖
0 0 0 1 0 0
0 0 0 0
And therefore, we have
𝝎𝑖+1 = 𝝎𝑖
and
0
𝐝𝑖+1 = 0𝐝𝑖 + 0𝝎𝑖+1 0𝐝𝑖+1 − 0𝐝𝑖 + 𝐝𝑖+1 0𝒌𝑖
II. FORWARD VELOCITY KINEMATICS

• The forward velocity kinematics of a robot solves the problem of
relating joint speeds, 𝐪, to the end-effector speeds 𝐗. The joint speed
vector 𝐪 of an n DOF robot is an 𝑛 × 1 vector
𝐪 = 𝑞1 𝑞2 𝑞3 ⋯ 𝑞𝑛 𝑇
And the end-effector speed vector 𝐗, in the most general case, is a 6 × 1
vector
𝑇
𝐗 = 𝑋𝑛 𝑌𝑛 𝑍𝑛 𝜔𝑋 𝜔 𝑌𝑛 𝜔 𝑍𝑛
𝑛
0 0
𝐝𝑛 𝐯𝑛
= =
0 𝝎𝑛 0𝝎𝑛
• The elements of end-effector speed vector 𝐗 are linearly proportional to
the elements of joint speed vector, 𝐪,
𝐗 = J𝐪
J(q) is a 6 × 𝑛 proportionality matrix, called Jacobian matrix of the robot

• The global expression of velocity 0𝐯𝑛 of the origin of 𝑩𝑛 is proportional
to the manipulator joint speed 𝐪𝐷
0
𝐯𝑛 = 𝐉𝐷 𝐪𝐷 , 𝐪𝐷 ∈ 𝐪
• The 3 × 𝑛 proportionality matrix 𝐉𝐷 𝐪 is the displacement Jacobian
matrix of the manipulator
𝜕𝐝𝑛 𝐪𝐷 𝜕𝑇 𝐪
𝐉𝐷 = =
𝜕𝐪𝐷 𝜕𝐪
• The global expression of angular velocity 0𝝎𝑛 of 𝑩𝑛 is proportional to
the rotational components of 𝐪
0𝝎𝑛 = 𝑱𝑅 𝐪
• The 3 × 𝑛 proportionality matrix 𝐉𝑅 𝐪 is the rotational Jacobian matrix
of the robot
𝜕 0𝝎𝑛
𝐉𝑅 =
𝜕𝐪

• Example 242 (Jacobian matrix for a planar polar manipulator)
A planar polar manipulator has following forward kinematics
cos 𝜃 − sin 𝜃 0 𝑟𝑐𝑜𝑠𝜃
0
𝑻2 = 0𝑻1 1𝑻2 = sin 𝜃 cos 𝜃 0 𝑟𝑠𝑖𝑛𝜃
0 0 1 0
0 0 0 1
The tip point of the manipulator is at
𝑋 𝑟 cos 𝜃
=
𝑌 𝑟 sin 𝜃
And therefore, its velocity is
𝑋 = cos 𝜃 −𝑟 sin 𝜃 𝑟
𝑌 sin 𝜃 𝑟 cos 𝜃 𝜃
𝑱𝑫

0
There is only one rotational joint coordinate, 𝜃. The rotation matrix 𝑹2
indicates that
0 0 𝑇
𝝎
0 2 = 𝑹 2 𝑹2 = 𝜃 𝒌
So
𝜔1 0
0𝝎2 =
𝜔2 = 0
𝜔3 𝜃
And therefore
𝝎3 = 𝐉𝑅 𝜃
𝐉𝑅 = 1
𝑋 cos 𝜃 −𝑟 sin 𝜃
𝑟
𝑌 = sin 𝜃 𝑟 cos 𝜃
𝜃
𝜔3 0 1
• Example 243 (Jacobian matrix for the 2R planar manipulator)
The angular velocity of links 1 and 2 are
0
𝝎
0 1 = 𝜃1 𝒌0
0
1𝝎2 = 𝜃2 0𝒌1
0 0
𝝎
0 2 = 𝝎
0 1 + 1𝝎2 = 𝜃1 + 𝜃2 𝒌0
And the global velocity of the tip position of the manipulator is
0
𝐝2 = 0𝐝1 + 01𝐝2 = 0𝝎1 × 0𝐝1 + 0𝝎2 × 01𝐝2
= 𝜃1 0𝒌0 × 𝑙1 0𝒊1 + 𝜃1 + 𝜃2 0
𝒌0 × 𝑙2 0𝒊2
= 𝑙1 𝜃1 0𝒋1 + 𝑙2 𝜃1 + 𝜃2 0
𝒋2
The unit vector 0𝒋1 and 0
𝒋2 can be found
0
𝒋1 = 𝑹𝑍,𝜃1 1𝒋1
cos 𝜃1 − sin 𝜃1 0 0 − sin 𝜃1
= sin 𝜃1 cos 𝜃1 0 1 = cos 𝜃1
0 0 1 0 0

0
𝒋2 = 𝑹𝑍,𝜃1 +𝜃2 2𝒋2
𝑐 𝜃1 + 𝜃2 −𝑠 𝜃1 + 𝜃2 0 0 −𝑠 𝜃1 + 𝜃2
= 𝑠 𝜃1 + 𝜃2 𝑐 𝜃1 + 𝜃2 0 1 = 𝑐 𝜃1 + 𝜃2
0 0 1 0 0
Substituting back shows that
− sin 𝜃1 −𝑠𝑖𝑛 𝜃1 + 𝜃2
0
𝐝2 = 𝑙1 𝜃1 cos 𝜃1 + 𝑙2 𝜃1 + 𝜃2 𝑐𝑜𝑠 𝜃1 + 𝜃2
0 0
Which can be rearranged to have
𝑋 = −𝑙1 𝑠𝜃1 − 𝑙2 𝑠 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2 𝜃1
𝑌 𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙2 𝑐 𝜃1 + 𝜃2 𝜃2
𝜃1
= 𝐉𝐷
𝜃2

Taking advantage of structural simplicity of 2R manipulator, we may find
its Jacobian simpler. Forward kinematics of the manipulator is
𝑐 𝜃1 + 𝜃2 −𝑠 𝜃1 + 𝜃2 0 𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2
0
𝑻2 = 0𝑻1 1𝑻2 = 𝑠 𝜃1 + 𝜃2 𝑐 𝜃1 + 𝜃2 0 𝑙1 𝑠𝜃1 + 𝑙2 𝑠 𝜃1 + 𝜃2
0 0 1 0
0 0 0 1
Which shows the tip position 00𝒅2 of the manipulator is at
𝑋 𝑙1 cos 𝜃1 + 𝑙2 cos 𝜃1 + 𝜃2
=
𝑌 𝑙1 sin 𝜃1 + 𝑙2 sin 𝜃1 + 𝜃2
Direct differentiating gives
𝑋 = −𝑙1 𝜃1 sin 𝜃1 − 𝑙2 𝜃1 + 𝜃2 sin 𝜃1 + 𝜃2
𝑌 𝑙1 𝜃1 cos 𝜃1 + 𝑙2 𝜃1 + 𝜃2 cos 𝜃1 + 𝜃2
−𝑙1 𝑠𝜃1 − 𝑙2 𝑠 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2 𝜃1
= = 𝐉𝐷 𝜃
𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙2 𝑐 𝜃1 + 𝜃2 𝜃2

𝐉𝐃 is the Jacobian of the 2R manipulator
𝜕𝑋 𝜕𝑋
𝜕𝜃1 𝜕𝜃2
𝐉𝐷 =
𝜕𝑌 𝜕𝑌
𝜕𝜃1 𝜕𝜃2
−𝑙1 𝑠𝜃1 − 𝑙2 𝑠 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2
=
𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙2 𝑐 𝜃1 + 𝜃2

• Example 245 (An articulated manipulator)
The links of the manipulator are 𝑅 ⊢ 𝑅 90 , 𝑅 ∥ 𝑅 0 , 𝑅 ⊢ 𝑅 90
Let us show the tip point of the manipulator by point 𝑷. The global
coordinates of 𝑷 is
𝑋𝑃 0
𝑌
0
𝐫𝑃 = 𝑃 = 0𝑻3 0
𝑍𝑃 𝑙3
1 1
cos 𝜃1 𝑙2 cos 𝜃2 + 𝑙3 𝑠𝑖𝑛 𝜃2 + 𝜃3
sin 𝜃1 𝑙2 cos 𝜃2 + 𝑙3 𝑠𝑖𝑛 𝜃2 + 𝜃3
=
𝑙1 − 𝑙3 cos 𝜃2 + 𝜃3 + 𝑙2 sin 𝜃2
1

The coordinates of 0𝒓𝑃 must be used to determine the Jacobian of the
manipulator as follows
𝜕𝑋𝑃 𝜕𝑋𝑃 𝜕𝑋𝑃
𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
𝜕𝑌𝑃 𝜕𝑌𝑃 𝜕𝑌𝑃
𝐉=
𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
𝜕𝑍𝑃 𝜕𝑍𝑃 𝜕𝑍𝑃
𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
− 𝑙3 𝑠𝜃23 + 𝑙2 𝑐𝜃2 𝑠𝜃1 𝑙3 𝑐𝜃23 − 𝑙2 𝑠𝜃2 𝑐𝜃1 𝑙3 𝑐𝜃23 𝑐𝜃1
= 𝑙3 𝑠𝜃23 + 𝑙2 𝑐𝜃2 𝑐𝜃1 𝑙3 𝑐𝜃23 − 𝑙2 𝑠𝜃2 𝑠𝜃1 𝑙3 𝑐𝜃23 𝑠𝜃1
0 𝑙3 𝑠𝜃23 + 𝑙2 𝑐𝜃2 𝑙3 𝑠𝜃23
𝜃23 = 𝜃2 + 𝜃3
III. JACOBIAN GENERATING VECTORS

The Jacobian matrix is a linear transformation, mapping joint speeds to
Cartesian speeds
𝐗 = 𝐉𝐪
And is equal to
0 0 0
𝒌0 × 00𝒅𝑛 𝒌1 × 01𝒅𝑛 ⋯ 𝒌𝑛−1 × 𝑛−10𝒅𝑛
𝐉= 0 0 0
𝒌0 𝒌1 ⋯ 𝒌𝑛−1
J can be calculated column by column. The ith column of J is called

Jacobian generating vector and is denoted by 𝐜𝑖 𝑞
0
𝒌𝑖−1 × 𝑖−10𝒅𝑛
𝐜𝑖 𝑞 = 0
𝒌𝑖−1

To calculate the ith column of the Jacobian matrix, we need to find two
vectors 𝑖−10𝐝𝑛 and 0𝒌𝑖−1
These vectors are position of origin and the joint axis unit vector of the
frame attached to link 𝑖 − 1 , both expressed in base frame
Calculating J, based on the Jacobian generating vectors, shows that forward

velocity kinematics is a consequence of the forward kinematics of robots

• Example 246 (Jacobian matrix for a spherical manipulator)
To find Jacobian of a spherical manipulator, we start with determining the
0
𝒌𝑖−1 axes for 𝑖 = 1,2,3
0
0
𝒌0 = 0
1
0
cos 𝜃1 0 − sin 𝜃1 0 0
0 sin 𝜃1 0 cos 𝜃1 0 0
𝒌1 = 0𝑻1 1𝒌1 =
0 −1 0 𝑙0 1
0 0 0 1 0
− sin 𝜃1
cos 𝜃1
=
0
0

𝑐𝜃1 𝑐𝜃2 −𝑠𝜃1 𝑐𝜃1 𝑠𝜃2 0 0 𝑐𝜃1 𝑠𝜃2
0 0 2 𝑐𝜃2 𝑠𝜃1 𝑐𝜃1 𝑠𝜃1 𝑠𝜃2 0 0 𝑠𝜃1 𝑠𝜃2
𝒌2 = 𝑻2 𝒌2 = =
−𝑠𝜃2 0 𝑐𝜃2 𝑙0 1 𝑐𝜃2
0 0 0 1 0 0
Then, the vector 𝑖−10𝒅𝑛 must be evaluated
𝑑3 cos 𝜃1 sin 𝜃2
0 0 0 𝑑3 sin 𝜃1 sin 𝜃2
𝒅
0 3 = 𝑙 0 𝒌0 + 𝑑 3 𝒌 2 =
𝑙0 + 𝑑3 cos 𝜃2
0
𝑑3 cos 𝜃1 sin 𝜃2
0 0 𝑑3 sin 𝜃1 sin 𝜃2
𝒅
1 3 = 𝑑 3 𝒌 2 =
𝑑3 cos 𝜃2
0

Therefore, the Jacobian of the manipulator is
0
𝒌0 × 00𝒅3 0𝒌1 × 01𝒅3 0
𝒌2
𝐉= 0 0
𝒌0 𝒌1 0
−𝑑3 sin 𝜃1 sin 𝜃2 𝑑3 cos 𝜃1 cos 𝜃2 cos 𝜃1 sin 𝜃2
𝑑3 cos 𝜃1 sin 𝜃2 𝑑3 cos 𝜃2 sin 𝜃1 sin 𝜃1 sin 𝜃2
0 −𝑑3 sin 𝜃2 cos 𝜃2
=
0 − sin 𝜃1 0
0 cos 𝜃1 0
1 0 0

• Example 247 (Jacobian matrix for an articulated robot)
The Jacobian matrix of a 6 DOF articulated robot is a 6 x 6 matrix
The ith column of the Jacobian is
0
𝒌𝑖−1 × 𝑖−10𝐝6
𝐜𝐢 𝑞 = 0
𝒌𝑖−1
For the first column of the Jacobian matrix, we need to find 0𝒌0 and 0𝐝6
0 𝑡14
0 0
𝒌0 = 0 𝐝6 = 𝑡24
1 𝑡34
0 0
0 0 1 2 3
𝑻6 = 𝑻1 𝑻2 𝑻3 𝑻4 𝑻5 𝑻6 = 4 5 𝑹 6 𝐝6
0 1
𝑡11 𝑡12 𝑡13 𝑡14
𝑡21 𝑡22 𝑡23 𝑡24
=
𝑡31 𝑡32 𝑡33 𝑡34
0 0 0 1

Therefore,
0 𝑡14 −𝑡24
0
𝒌0 × 0𝐝6 = 0 × 𝑡24 = 𝑡14
1 𝑡34 0
And the first Jacobian generating vector is
−𝑡24
𝑡14
0 0
𝒌0 × 𝐝6 0
𝐜𝟏 = 0 =
𝒌0 0
0
1
For the 2nd column, we need to find 0𝒌1 and 01𝐝6
𝑐𝜃1 0 𝑠𝜃1 0 sin 𝜃1
0
𝒌1 = 0𝑹1 1𝒌1 = 𝑠𝜃1 0 −𝑐𝜃1 0 = − cos 𝜃1
0 1 0 1 0

The first half of 𝒄𝟐 is 0𝒌1 × 01𝐝6 . An easier method is to find 1
𝒌1 × 1𝐝6
and transform the resultant into the base frame.
Vector 1𝐝6 is the fourth column of 1𝑻6 = 1𝑻2 2𝑻3 3𝑻4 4𝑻5 5𝑻6 , so
𝑙2 cos 𝜃2 + 𝑙3 sin 𝜃2 + 𝜃3
1
𝐝6 = 𝑙2 sin 𝜃2 − 𝑙3 cos 𝜃2 + 𝜃3
𝑑2
Therefore, the first half of 𝐜2 is
0
𝒌1 × 01𝐝6 = 0𝑹1 1𝒌1 × 1𝐝6
cos 𝜃1 −𝑙2 sin 𝜃2 + 𝑙3 cos 𝜃2 + 𝜃3
= sin 𝜃1 −𝑙2 sin 𝜃2 + 𝑙3 cos 𝜃2 + 𝜃3
𝑙2 cos 𝜃2 + 𝑙3 sin 𝜃2 + 𝜃3
0
𝒌1 × 01𝐝6
So, we have 𝐜2 = 0
𝒌1

We can do similarly for other columns: 𝐜3 , 𝐜4 , 𝐜5 and 𝐜6
Finally, we have the Jacobian matrix for articulated robot is

𝐉 = 𝐜𝟏 𝐜𝟐 𝐜𝟑 𝐜𝟒 𝐜𝟓 𝐜𝟔
IV. INVERSE VELOCITY KINEMATICS

• The inverse velocity kinematics problem is searching for the joint
speeds vector 𝐪 corresponding to the end-effector speeds vector 𝐗
• The speeds vector of the end-effector 𝐗 is related to the joint speeds

vector 𝐪 by the Jacobian matrix J
0
𝐯𝑛 𝑱𝐷
𝐗= 0 = 𝐪 = 𝐉𝐪
𝝎𝑛 𝑱𝑅
• If the Jacobian matrix is non-singular at the moment of calculation, the

inverse Jacobian 𝐉 −𝟏 exists and the required joint speed vector is
𝐪 = 𝐉 −𝟏 𝐗

• Singular configuration is where the determinant of the Jacobian matrix
is zero and therefore, 𝐉 −𝟏 is indeterminate
• Since the inverse velocity kinematics is a consequence of the forward

velocity and need a matrix inversion, the problem is equivalent to the
solution of a set of linear algebraic equations
• To find 𝐉 −𝟏 , every matrix inversion method may be applied

• Example 251 (Inverse velocity of a planar polar manipulator)
A planar polar manipulator has following forward velocity equation
𝑋 = cos 𝜃 −𝑟 sin 𝜃 𝑟
𝑌 sin 𝜃 𝑟 cos 𝜃 𝜃
To determine inverse velocity, we determine inverse of Jacobian matrix J
𝜕𝑋 𝜕𝑋
cos 𝜃 −𝑟 sin 𝜃
𝐉 = 𝜕𝑟 𝜕𝜃 =
𝜕𝑌 𝜕𝑌 sin 𝜃 𝑟 cos 𝜃
𝜕𝑟 𝜕𝜃
𝜕𝑌 𝜕𝑋
1 − 1 cos 𝜃 sin 𝜃
−𝟏
𝐉 = 𝜕𝜃 𝜕𝜃 =
𝜕𝑋 𝜕𝑌 𝜕𝑋 𝜕𝑌 𝜕𝑌 𝜕𝑋 𝑟 − sin 𝜃 cos 𝜃
−
𝜕𝑟 𝜕𝜃 𝜕𝜃 𝜕𝑟 − 𝜕𝑟 𝜕𝑟

• Example 252 (Inverse velocity of a 2R planar manipulator)
Jacobian and forward velocity kinematics of a 2R planar manipulator is
𝐗 = 𝐉𝐪
𝑋 = −𝑙1 𝑠𝜃1 − 𝑙2 𝑠 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2 𝜃1
𝑌 𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙2 𝑐 𝜃1 + 𝜃2 𝜃2
The inverse velocity kinematics need to find the inverse of Jacobian
𝜃1
= 𝐉 −𝟏 𝑋
𝜃2 𝑌
Where
−𝟏
−1 −𝑙2 𝑐 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2
𝐉 =
𝑙1 𝑙2 𝑠𝜃2 𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙1 𝑠𝜃1 + 𝑙2 𝑠 𝜃1 + 𝜃2

• Example 253 (Singular configuration of a 2R manipulator)
Singularity of a 2R manipulator occurs when determinant of the Jacobian
is zero. From example 252, we have
−𝑙1 𝑠𝜃1 − 𝑙2 𝑠 𝜃1 + 𝜃2 −𝑙2 𝑠 𝜃1 + 𝜃2
𝐉=
𝑙1 𝑐𝜃1 + 𝑙2 𝑐 𝜃1 + 𝜃2 𝑙2 𝑐 𝜃1 + 𝜃2
The determinant of J is
𝐉 = 𝑙1 𝑙2 sin 𝜃2
Therefore, the singular configuration of the manipulator are
𝜃2 = 0 𝜃2 = 180 𝑑𝑒𝑔
Corresponding to the fully extended or fully contracted configurations
At the singular configurations, the value of 𝜃1 is indeterminate and may
have any real value

The two columns of the Jacobian matrix become parallel because
𝑋 = 2𝑙 −𝑠𝜃1 𝜃 + 𝑙 −𝑠𝜃1 𝜃 = 2𝑙 𝜃 + 𝑙 𝜃 −𝑠𝜃1
1 𝑐𝜃 1 2 𝑐𝜃 2 1 1 2 2 𝑐𝜃1
𝑌 1 1
In this situation, the endpoint can only move in the direction perpendicular
to the arm links

• Example 256 (Inverse velocity of an articulated manipulator)
The end point of the articulated manipulator is
𝑋𝑃 cos 𝜃1 𝑙2 cos 𝜃2 + 𝑙3 sin 𝜃2 + 𝜃3
0 𝑌 sin 𝜃1 𝑙2 cos 𝜃2 + 𝑙3 sin 𝜃2 + 𝜃3
𝐫𝑃 = 𝑃 =
𝑍𝑃 𝑙1 − 𝑙3 cos 𝜃2 + 𝜃3 + 𝑙2 sin 𝜃2
1 1
Using components of 0𝐫𝑃 , we calculated Jacobian matrix of manipulator
𝜕𝑋𝑃 𝜕𝑋𝑃 𝜕𝑋𝑃
𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
𝜕𝑌𝑃 𝜕𝑌𝑃 𝜕𝑌𝑃
𝐉= 𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
𝜕𝑍𝑃 𝜕𝑍𝑃 𝜕𝑍𝑃
𝜕𝜃1 𝜕𝜃2 𝜕𝜃3
To solve the forward kinematics of the manipulator 𝐗 = 𝐉𝛉

To solve the inverse velocity kinematics of the manipulator, we need to
calculate 𝐉 −𝟏
𝑎11 𝑎12 𝑎13
𝐉 −𝟏 = 𝑎21 𝑎22 𝑎23
𝑎31 𝑎32 𝑎33
sin 𝜃1
𝑎11 = −
𝑙3 sin 𝜃2 + 𝜃3 + 𝑙2 cos 𝜃2
1 cos 𝜃1
𝑎21 = − sin 𝜃2 + 𝜃3
𝑙2 cos 𝜃3
1 cos 𝜃1
𝑎31 = 𝑙3 sin 𝜃2 + 𝜃3 + 𝑙2 cos 𝜃2
𝑙2 𝑙3 cos 𝜃3

cos 𝜃1
𝑎12 =
𝑙3 sin 𝜃2 + 𝜃3 + 𝑙2 cos 𝜃2
1 sin 𝜃2 + 𝜃3
𝑎22 = − sin 𝜃1
𝑙2 cos 𝜃3
sin 𝜃1
𝑎32 = 𝑙3 sin 𝜃2 + 𝜃3 + 𝑙2 cos 𝜃2
𝑎13 = 0
1 cos 𝜃2 + 𝜃3
𝑎23 =
𝑙2 cos 𝜃3
1
𝑎33 = − 𝑙3 cos 𝜃2 + 𝜃3 − 𝑙2 sin 𝜃2
V. APPLICATION OF JACOBIAN IN STATIC FORCE

We have
𝑖−1 𝑖−1
𝒇𝑖−1 = 𝑹𝑖 𝑖 𝒇𝑖
𝑖−1 𝑖−1
𝒏𝑖−1 = 𝑹𝑖 ( 𝑖𝒏𝑖 + 𝑖−1𝑖𝑷𝑖 × 𝑖𝒇𝑖 )
𝒏𝑖
𝒇𝑖
𝒏𝑖−1
𝒇𝑖−1

Example: Consider a two-link robot
At the end of the robot, we have
𝑓𝑥
2
𝒇2 = 2𝑭 = 𝑓𝑦
𝑌2 𝑋2
0
At the joint 2, we have: 2
𝑭
𝑐2 −𝑠2 0 𝑓𝑥 𝑋1
1
𝒇1 = 1𝑹2 2𝒇2 = 𝑠2 𝑐2 0 𝑓𝑦 1
𝑭
0 0 1 0 𝝉1 𝑌0
𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦
= 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦 𝝉0
𝑌1
0 𝑋0
0
𝑭

1
𝒏1 = 1𝑹2 2𝒏1 = 1𝑹2 𝑙2 𝑿2 × 2𝑭
𝑙2 𝑓𝑥 𝑐2 −𝑠2 0 0
= 1 𝑹2 0 × 𝑓𝑦 = 𝑠2 𝑐2 0 0
0 0 0 0 1 𝑙2 𝑓𝑦
𝑌2 𝑋2
0
= 0 2
𝑭
𝑙2 𝑓𝑦 𝑋1
At the joint 1, we have 1
𝑭
0
𝒇0 = 0𝑹1 1𝒇1 𝝉1 𝑌0
𝑐1 −𝑠1 0 𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦 𝝉0
= 𝑠1 𝑐1 0 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦 𝑌1
0 0 1 0 0 𝑋0
𝑭

𝑐1 𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦 − 𝑠1 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦 𝑐12 𝑓𝑥 − 𝑠12 𝑓𝑦
0
𝒇0 = 𝑠1 𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦 + 𝑐1 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦 = 𝑠12 𝑓𝑥 + 𝑐12 𝑓𝑦
0 0
0 𝑙1 𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦
0
𝒏0 = 0𝑹1 1
𝒏1 + 𝑙1 𝑿1 × 1𝒇1 = 0𝑹1 0 + 0 × 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦
𝑙2 𝑓𝑦 0 0
0 0
= 0𝑹1 0 + 0
𝑙2 𝑓𝑦 𝑙1 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦
𝑐1 −𝑠1 0 0 0
= 𝑠1 𝑐1 0 0 = 0
0 0 1 𝑙2 𝑓𝑦 + 𝑙1 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦 𝑙2 𝑓𝑦 + 𝑙1 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦

Finally, we have:
𝜏0 = 𝑙1 𝑠2 𝑓𝑥 + 𝑙2 + 𝑙1 𝑐2 𝑓𝑦
𝜏1 = 𝑙2 𝑓𝑦
This relationship can be written as a matrix operator

𝑙1 𝑠2 𝑙2 + 𝑙1 𝑐2 𝑓𝑥
𝝉=
0 𝑙2 𝑓𝑦

We have
𝑭 ∙ 𝛿𝑿 = 𝝉 ∙ 𝛿𝚯
Where: 𝑭 is a 6 × 1 Cartesian force-moment vector acting at end-effector
𝛿𝑿 is a 6 × 1 infinitesimal Cartesian displacement
𝝉 is a 6 × 1 vector of torques at the joints
𝛿𝚯 is a 6 × 1 vector of infinitesimal joint displacements
Or we can write
𝑭𝑇 𝛿𝑿 = 𝝉𝑇 𝛿𝚯
From definition of Jacobian we have
𝛿𝑿 = 𝑱𝛿𝚯
So we may write
𝑭𝑇 𝑱𝛿𝚯 = 𝝉𝑇 𝛿𝚯

Hence, we have
𝑭𝑇 𝑱 = 𝝉𝑇
Finally, we have
𝝉 = 𝑱𝑇 𝑭
Note:
• 𝝉, 𝑱, 𝑭: should be calculated in the same frame

For example: 0𝝉 = 0𝑱𝑇 0𝑭
• The formulation: 𝝉 = 𝑱𝑇 𝑭 show the moments that the force F apply to

each joints of robot
 The torques that we should apply to the actuators of robot to
balance the external force is:
𝝉 = −𝑱𝑇 𝑭
VI. RUBRICS FOR ORAL PRESENTATION
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difficult to follow sequence interested Seq.
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smoothly from 1 from 1 idea to next from 1 idea to next
idea to next
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inaccurate Accurate

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Depth not has grasp of demonstrate basic demonstrate full
information concept knowledge
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questions fully accurate
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6 Velocity Kinematics Jacobi

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6 Velocity Kinematics Jacobi

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Robotics 6.

06. Velocity Kinematics

2. FORWARD VELOCITY KINEMATICS

3. JACOBIAN GENERATING VECTORS

4. INVERSE VELOCITY KINEMATICS

5. APPLICATION OF JACOBIAN IN STATIC FORCE

6. RUBRICS FOR ORAL PRESENTATION

• Velocity analysis of a robot is divided into forward and inverse velocity

• Determination of the time rate of joint variables based on the velocity of

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

I. RIGID LINK VELOCITY

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

II. FORWARD VELOCITY KINEMATICS

III. JACOBIAN GENERATING VECTORS

J can be calculated column by column. The ith column of J is called

III. JACOBIAN GENERATING VECTORS

Calculating J, based on the Jacobian generating vectors, shows that forward

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

III. JACOBIAN GENERATING VECTORS

Finally, we have the Jacobian matrix for articulated robot is

IV. INVERSE VELOCITY KINEMATICS

• The speeds vector of the end-effector 𝐗 is related to the joint speeds

• If the Jacobian matrix is non-singular at the moment of calculation, the

IV. INVERSE VELOCITY KINEMATICS

• Since the inverse velocity kinematics is a consequence of the forward

• To find 𝐉 −𝟏 , every matrix inversion method may be applied

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

IV. INVERSE VELOCITY KINEMATICS

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

This relationship can be written as a matrix operator

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

V. APPLICATION OF JACOBIAN IN STATIC FORCE

• 𝝉, 𝑱, 𝑭: should be calculated in the same frame

• The formulation: 𝝉 = 𝑱𝑇 𝑭 show the moments that the force F apply to

VI. RUBRICS FOR ORAL PRESENTATION