Ch 5: Jacobian - velocities & static forces

 C.B. Pham 5-1

 5.1. Notation for time-varying pos. & orient.

Differentiation of position vectors

The velocity of a position vector BQ can be thought of as
the linear velocity of the point in space represented by the
position.

A velocity vector can be described in

terms of any frame and this frame of
reference is noted with a leading
superscript. The velocity vector
calculated in {B}, when expressed in
terms of frame {A}, would be written:
 C.B. Pham 5-2
 5.1. Notation for time-varying pos. & orient.

In general, the velocity of the origin of a frame is often

considered relative to some understood universe reference
frame.

where the point in

question is the origin of
frame {C} and the
reference frame is {U}.
 C.B. Pham 5-3
 5.1. Notation for time-varying pos. & orient.

Angular velocity vector

A describes the rotation of
B
frame {B} relative to {A}.
Physically, at any instant, the
direction of AB indicates the
instantaneous axis of
rotation of {B} relative to {A},
and the magnitude of AB
indicates the speed of
rotation.
When there is an understood reference
frame, so it needs not be mentioned in
the notation:
 C.B. Pham 5-4
 5.2. Linear & rotational velocity of rigid bodies

Linear velocity
Frame {B} is located relative to {A}, and the orientation ARB
is not changing with time

 C.B. Pham 5-5

 5.2. Linear & rotational velocity of rigid bodies

Rotational velocity
Consider two frames with
coincident origins and with
zero linear relative velocity;
their origins will remain
coincident for all time.

Let us consider that the vector Q is

constant as viewed from frame {B}:
BV =0
Q
 C.B. Pham 5-6
 5.2. Linear & rotational velocity of rigid bodies

Rotational velocity

 C.B. Pham 5-7

 5.2. Linear & rotational velocity of rigid bodies

In the general case, the vector Q could also be changing

with respect to frame {B}, so adding this component.

Simultaneous linear and rotational velocity

 C.B. Pham 5-8

 5.3. Motion of the links of a robot

In considering the motions of robot links, we always use

link frame {0} as the reference frame.
• vi: the linear velocity of the origin of link frame {i}
• wi: the angular velocity of link frame {i}.

 C.B. Pham 5-9

 Velocity "propagation" from link to link

A manipulator is a chain of bodies, each one capable of

motion relative to its neighbors. Because of this structure,
we can compute the velocity of each link in order, starting
from the base (frame {0}).

 C.B. Pham 5-10

 Angular velocity

The angular velocity of frame {i} is the same as that of

frame {i-1} plus a new component caused by rotational
velocity at joint i.

Where

 C.B. Pham 5-11

 Linear velocity

The linear velocity of the origin of frame {i} is the same as

that of the origin of frame {i-1} plus a new component
caused by rotational velocity of link i.

Note: for prismatic joints

 C.B. Pham 5-12

 Velocity "propagation" from link to link

Example: Consider a two-link manipulator with rotational

joints. Calculate the velocity of the tip of the arm as a
function of joint rates. Give the answer in two forms:
• in terms of frame {2}
• in terms of frame {0}

 C.B. Pham 5-13

 Velocity "propagation" from link to link

 C.B. Pham 5-14

 Velocity "propagation" from link to link

Solution:

Where:

 C.B. Pham 5-15

 Velocity "propagation" from link to link

Using the formulae from link to link

To find these velocities with respect to the base frame

 C.B. Pham 5-16

 5.4. Jacobian

The Jacobian is a multidimensional form of the derivative.

The 6 x 6 matrix of partial derivatives is the Jacobian J, as

mapping velocities in X to those in Y.
 C.B. Pham 5-17
 5.4. Jacobian

In the field of robotics, Jacobians are used to relate joint

velocities to Cartesian velocities of the tip of the arm.
Write a 2 x 2 Jacobian that relates
joint rates to end-effector velocity
in the case of a two-link.

 C.B. Pham 5-18

 5.4. Jacobian

Solutions:

 C.B. Pham 5-19

 5.4. Jacobian

Changing a Jacobian's frame of reference

 C.B. Pham 5-20

 5.5. Singularity

Is the Jacobian invertible (is it nonsingular) for all values of

? Most manipulators have values of  where the Jacobian
becomes singular. Such locations are called singularities of
the mechanism or singularities.

All manipulators have

singularities at:
• the boundary of their
workspace, and
• most have loci of
singularities inside
their workspace.
 C.B. Pham 5-21
 5.5. Singularity

Example: Where are the singularities of the simple two-link

arm?

A singularity exists when 2 = 00 or 1800

Note that the Jacobian written with respect to frame {0}, or
any other frame, would have yielded the same result.
 C.B. Pham 5-22
 5.5. Singularity

Consider the two-link robot as it is moving its end-effector

along the X axis at 1.0 m/s.

Solution:

 C.B. Pham 5-23

 5.6. Static forces in manipulators

In considering static forces in a

manipulator, all the joints are
locked so that the manipulator
becomes a structure.
 C.B. Pham 5-24
 5.6. Static forces in manipulators

Notation:
• fi : force exerted on link i by link i+1
• ni : moment exerted on link i by link i+1

 C.B. Pham 5-25

 5.6. Static forces in manipulators

Based on force / moment balance acting on link i:

the joint torque required to maintain the static equilibrium is

the dot product of the joint-axis vector with the moment
vector acting on the link.
(for revolute joints)
(for prismatic joints)
 C.B. Pham 5-26
 5.6. Static forces in manipulators

The two-link manipulator is applying a force vector 2F with

its end-effector. Find the required joint torques as a function
of configuration and of the applied force.

 C.B. Pham 5-27

 5.6. Static forces in manipulators

Using the formulae starting from the last link and going
toward the base of the robot.

 C.B. Pham 5-28

 5.6. Static forces in manipulators

The computed joint torques

This relationship can be written as a matrix operator

It is not a coincidence that the matrix above is the

transpose of the Jacobian.

 C.B. Pham 5-29

 Jacobians in the force domain

The principle of virtual work: the work done in Cartesian

terms is the same as the work done in joint-space terms.

When the Jacobian loses full rank, there are certain

directions in which the end-effector cannot exert static
forces even if desired.
 C.B. Pham 5-30