CH 05

CHAPTER FIVE
DIFFERENTIAL MOTIONS AND

VELOCITIES
Introduction to Robotics: Analysis, Control,

Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Introduction to Robotics: Analysis, Control, Applications, Third Edition.
Saeed B. Niku.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.
This solution manual may not be copied, posted, made available to students,
placed on any outlet, any other electronic media system, and the Internet
without prior expressed consent of the copyright owner.
This material may not be used except in conjunction with the “Introduction to
Robotics: Analysis, Control, Applications”

Introduction
 Differential motions, divided by differential time intervals,

constitute velocity relationships.
 We cover :
 Differential motions of frames
 Differential motions of robots
 Relationship between the above

Differential Motions of a 2-DOF Mechanism
 A mechanism and its velocity diagram

vB  v A  vB/ A
. . .
 l1 1 [ to l1 ]  l2 (1   2 )[ to l2 ]
. . . . . .
 l1 1 sin 1i  l1 1 cos 1 j  l2 (1   2 ) sin(1   2 )i  l2 (1   2 ) cos(1   2 ) j
y
B
y
l2
VB/A
2
l1 VA
A VB
o 1 x x
(a) (b)
Differential Motions
 In matrix form we get:
 .
 vBx   l1 sin 1  l2 sin(1  2 ) l2 sin(1  2 )  1
   
v l cos   l cos(    ) l cos(   )  . 
 By   1 2 
 2 
1 2 1 2 2 1
 Differential motions are the product of the Jacobian and

the joint differential motions

Differential Motions
 The same relationship can be derived from direct

differentiation:
 xB  l1 cos 1  l2 cos(1   2 )

 yB  l1 sin 1  l2 sin(1   2 )
dxB  l1 sin 1d1  l2 sin(1   2 )(d1  d 2 )

dyB  l1 cos 1d1  l2 cos(1   2 )(d1  d 2 )
 dxB   l1 sin 1  l2 sin(1   2 ) l2 sin(1   2 )   d1 
 dy    l cos   l cos(   ) l cos(   )   d 
 B  1 1 2 1 2 2 1 2  2
Differential Jacobian Differential

motion of B Introduction to Robotics: Analysis, Control, motion of joints
The meaning of a Jacobian
 A representation of the configuration of the mechanism

Resulting
motion
B
Re
m sulti
ot ng
io
A n
B
1
Resultin
motion
g
o o o
A B A
1 1

What is the Jacobian
 For an equation in the form of
yi  f i ( x1 , x2 , x3 ,..., x j )
 The derivatives are:
 f1 f1 f1
 y 
 1 x 1 x  x   x 2  L   xj
x j
 1 2
 f 2 f 2 f 2
 y2   x1   x2  L   xj
 x1 x2 x j
M

 f i f i f i
 y 
 i x 1 x  x   x2  L   xj
 1 2 x j
Jacobian
 This can be rearranged into:
 f1 f1 f1 

 y
 1     x1 
   x1 x2 x j 
 
   f  
 y2   2 K K K   x2   fi 
    x1   or  yi      x j 
   M    x j 
 M    M
   fi fi   
  yi    
 x j 
 x1 x j 

Robot’s Jacobian
 For a robot, we get:
 dx     d1 
 dy     d 
    2
 dz   Robot   d3 
    or  D    J  D 
 x   Jacobian   d 4 
 y     d 5 
    
 z     d 6 

Differential versus Large-Scale Motions
 Large scale motions happen once; differential motions

happen continuously.
 The final consequences are different.
l

B C

l
l A 

Differential Motions of a Frame versus a Robot
 A frame may move by any means, including as a result of

the motions of a robot arm when the frame is attached to
the end effector.
 We will study the differential motions of a frame and of a
robot separately, then combine them together.
z z
z
o' Hand differential
o n' o'
a' motions a' o n'
a n a n
Joint differential bot

Ro
motions
x y x y x
y
Differential Motions of a Frame
 Differential motions of a frame can be divided into the

following:
 Differential translations
 Differential rotations
 Differential transformations (combinations of translations
and rotations)

Differential Translations
 The translation of a frame at differential values or

Trans(dx,dy,dz). This means the frame has moved a
differential amount along the x-, y-, and z-axes.

Differential Rotations about Reference Axes
 Small rotations of the frame, represented by

Rot (q, d )
 Differential rotations about the x-, y-, and z-
axes are defined by  x,  y,  z.

Differential trigonometric functions
 We use the following relationships:
sin  x   x (in radians)

cos  x  1

Differential Rotations about Reference Axes
1 0 0 0 1 0 0 0
0 1  x 0 0 1  n 0
Rot ( x,  x )    Rot ( n,  n )   
0 x 1 0 0 n 1 0
   
0 0 0 1 0 0 0 1
 1 0  y 0  1 0 o 0
 0 1 0 0  0 1 0 0
Rot ( y ,  y )    Rot (o,  o)   
 y 0 1 0  o 0 1 0
   
 0 0 0 1  0 0 0 1
 1  z 0 0  1  a 0 0
 z 1 0 0  a 1 0 0
Rot ( z ,  z )    Rot ( a ,  a )   
0 0 1 0 0 0 1 0
   
0 0 0 1 0 0 0 1
Multiple Differential Rotations about Reference
Axes
 Multiple differential rotations:

 Results are order-dependent
 If higher-order differentials are eliminated, the results are the same.
1 0 0 0  1 0  y 0  1 0 y 0
 
0 1  x 0  0 1 0 0   x y 1  x 0 
Rot ( x,  x) Rot ( y,  y )    
0  x 1 0    y 0 1 0    y  x 1 0 
   
0 0 0 1  0 0 0 1  0 0 0 1 
 1 0  y 0  1 0 0 0  1  x y  y 0
 
 0 1 0 0  0 1  x 0   0 1  x 0 
Rot ( y,  y ) Rot ( x,  x )    
  y 0 1 0  0  x 1 0    y  x 1 0 
  
 0 0 0 1  0 0 0 1   0 0 0 1 
Differential Rotations about a General Axis q
 Based on the previous slide, the order does not matter:

(d )q  ( x)i  ( y ) j  ( z )k
Rot (q, d )  Rot ( x,  x) Rot ( y ,  y ) Rot ( z,  z )
1 0 0 0  1 0  y 0   1  z 0 0 
0 1  x 0   0 1 0 0   z 1 0 0
   
0  x 1 0    y 0 1 0   0 0 1 0
   
0 0 0 1  0 0 0 1  0 0 0 1
 1  z y 0 z
  x y   z  x y z  1  x 0 z q
 d
  y   x z  x   y z 1 0
  y
 0 0 0 1 x
y
Introduction to Robotics: Analysis, Control, x
Differential Rotations about a General Axis q
 Eliminating the higher-order differentials we get:
Rot (q, d )  Rot ( x,  x) Rot ( y,  y ) Rot ( z ,  z ) 

 1  z  y 0
 z 1  x 0
 
  y  x 1 0
 
 0 0 0 1

Differential Rotations of a Frame
 Assume we may have differential translation and rotations.

 dT is the change in a frame. Therefore:
T  dT   [Trans(dx, dy, dz ) Rot (q, d )]T 

or dT   [Trans (dx, dy, dz ) Rot (q, d )  I ] T 
dT    T 
where    [Trans (dx, dy , dz )  Rot (q, d )  I ]

Differential Operator
 Differential Operator can be derived.

 It is NOT a frame or transformation matrix and it does not
follow the same requirements.
 0  z  y dx 
 z 0  x dy 
 
  y  x 0 dz 
 
 0 0 0 0

The Differential Change
 Represents the changes in each of the elements in the

matrix representation of a frame.
 dnx dox dax dpx 
 dn doy da y dp y 
dT   y
 dnz doz daz dpz 
 
 0 0 0 0 
 The new frame is:
Tnew  dT  Told

Differential Changes between Frames
 A differential change can be relative to the reference

frame or the current frame:
         
dT   T  T  T
T    T   T      
1 1 T
 T 
    T   T   
T 1
 0 T
 z T
y T
dx 
 T T T 
 z 0  x dy 
  T y T
x 0 T
dz 
 
 0 0 0 0 
Differential Changes between Frames
 Differential change can be can be calculated directly, or

from:
T
x  δ n
T
 y  δ o
T
z  δ a
T
d x  n  [δ  p  d]
T
d y  o  [δ  p  d]
T
d z  a  [δ  p  d]
Differential Motions of a Robot and Its Hand
Frame
 The differential motions of the robot can be expressed by:
 dx     d1 
 dy     d 
    2
 dz   Robot   d3 
    or  D    J  D 
 x   Jacobian   d 4 
 y     d 5 
    
 z     d 6 

Differential Motions of a Robot and Its Hand
Frame
 Use the previous equation to relate the robot joint

differential motions to the end-effector motions,
 Use the data in D to form  .
 Calculate dT.
 Calculate the new position and orientation of the end-
effector
 Repeat.

Calculation of the Jacobian
 Direct derivation is possible for position equations, but not

practical for orientation.
 Indirect derivation, especially relative to the current frame
is easier and more practical.
 For:  T6 d x   T6 J11 T6 J12 . . . T6 J16   d1 
 T6   T6  
 d y   J 21
T6
J 22 . . . T6
J 26   d 2 
 T6 d z   T6 J 31 . . . . T6
J 36   . 
 T6    T6  
  x   J 41 . . . . T6
J 46   . 
 T6   T6 J . . . . T6
J 56   . 
 T y   T 51  
 6 z   6 J 61 . . . . T6
J 66   d 6 
Calculation of the Jacobian: Cont.
 If joint i under consideration is a revolute

joint:
T6
J1i  (nx p y  n y px )
T6
J 2 i  (  ox p y  o y p x )
T6
J 3i  (  a x p y  a y p x )
T6
J 4 i  nz
T6
J 5 i  oz
T6
J 6i  az
 If joint i under consideration is a prismatic

joint: T6
J1i  nz
T6
J 2 i  oz
T6
J 3i  a z
T6
J 4i  0
T6
J 5i  0
T6
J 6i  0
 Where the information comes from:
For column 1, use oT6  A1 A2 A3 A4 A5 A6

For column 2, use 1T6  A2 A3 A4 A5 A6
For column 3, use 2T6  A3 A4 A5 A6
For column 4, use 3T6  A4 A5 A6
For column 5, use 4T6  A5 A6
For column 6, use 5T6  A6

Inverse Jacobian
 Inverse Jacobian is the real objective
 D    J  D 
 J 1   D    J 1   J  D 
 D    J 1   D 
 And similarly
 T6 J 1   T6 D    T6 J 1   T6 J   D 
T6 1 T6
D   J   D 
  
Calculation of Inverse Jacobian
 Can be calculated from the Jacobian, but impractical for a

6 by 6 large matrix.
 Can be derived directly from the forward kinematic
equations instead.

Derivation of the Inverse Jacobian
 Example: 6-axis robot first joint:

px S1  p y C1  0
 py 
1
1  tan   and 1  1  180
 px 
px S1  p y C1
dpx S1  px C1d1  dp y C1  p y S1d1
d1 ( px C1  p y S1 )  dpx S1  dp y C1
 dpx S1  dp y C1
d1 
( px C1  p y S1 )
Derivation of the Inverse Jacobian: Cont.
 Similarly:
S 234 (C1ax  S1a y )  C234 az
C234 (d 2  d3  d 4 )(C1ax  S1a y )  S 234 [a x S1d1  C1da x  a y C1d1  S1da y ]
  S 234 (d 2  d3  d 4 )az  C234 daz
S 234 [ax S1d1  C1dax  a y C1d1  S1da y ]  C234 daz

(d 2  d3  d 4 ) 
C234 (C1ax  S1a y )  S 234 az

 and:
2a2 a3C3  ( px C1  p y S1  C234 a4 )2  ( pz  S234 a4 ) 2  a22  a32
2a2 a3 S3 d3  2( p xC1  p y S1  C234 a4 )

 [C1dpx  px S1d1  S1dp y  p y C1d1  a4 S 234 (d 2  d 3  d 4 )]
 2( pz  S234 a4 )[dpz  a4C234 (d 2  d3  d 4 )]

 and similarly, equations for the remaining can be derived,

including:
S6   S234 (C1nx  S1n y )  C234 nz
C6 d 6  C234 (C1nx  S1n y )(d 2  d 3  d 4 )

 S234 ( S1nx d1  C1dnx  C1n y d1  S1dn y )
 S234 nz (d 2  d3  d 4 )  C234 dnz

 These equations may be used to control the differential

motions of the robot.

Calculation of Jacobian with screw-based
mechanics
 Same principles apply. The meaning and the use of

Jacobians is similar in screw-based mechanics. The
derivation is different. ŝ 3
ŝ4
ŝ2
S3 S4 z
ŝ1
S2
x
Fixed
base
S1 y

Cont.
 Denoting the Jacobian of the robot as J, we write:

   
v   J   D
 
 
  is the vector of angular velocities of the end effector

with respect to the reference frame, v is the vector of
linear velocities of the end effector with respect to the
reference frame, and  D   is the angular velocities of the
joints

Cont.

Cont.

Process of calculating the Jacobian

Cont.

Cont.

Example
 Intermediate reference frame at z4 (s5)
zU zn
ŝ1 ŝ5
a4
a2 ŝ3 a3 ŝ6
ŝ2 xU xn
ŝ4

Joint 5:

Joint 6:

Joint 4:

Joint 3:

Joint 2:

Joint 1:

Jacobian:
 S234 0 0 0 0 S5 
 0 1 1 1 0 C5 
 
5
 C234 0 0 0 1 0 
j 
 0 a2 S34  a3S4 a3 S4 0 0 0 
 a2C2  a3C23  a4C234 0 0 0 0 0 
 
 0 a2C34  a3C4  a4 a3C4  a4 a4 0 0 
5
x  S2341  S56
5
 y  2  3  4  C56
5
  C   
z 234 1 5
5
v x  a2 S342  a3S 4 (2  3 )
5
v y  (a2C2  a3C23  a4C234 )1
5
v z  ( a2C34  a3C4  a4 )2  (a3C4  a 4 )3  a 45
Inverse Jacobian
 Inverting the matrix is too involved.

 Direct differentiation is easier and quicker.

Jacobian of parallel robots

Cont.

Example: Jacobian of 6-6 Stewart platform
 We write 6 loop equations and differentiate

them to form the Jacobian as follows
P  bi  ai  d i for i  1 6 B3
B4 d̂1
B2
P b1
P  b  bi  d i +di  d i B5
B6
B1
A3
P
A4 A2
zo d1
yo
O a1
xo
A5 A1
A6
Notes:

Derivation:


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CHAPTER FIVE

DIFFERENTIAL MOTIONS AND

Introduction to Robotics: Analysis, Control,

Introduction to Robotics: Analysis, Control,

 Differential motions, divided by differential time intervals,

Introduction to Robotics: Analysis, Control,

 A mechanism and its velocity diagram

 In matrix form we get:

 Differential motions are the product of the Jacobian and

Introduction to Robotics: Analysis, Control,

 The same relationship can be derived from direct

Differential Jacobian Differential

 A representation of the configuration of the mechanism

Introduction to Robotics: Analysis, Control,

 f1 f1 f1 

Introduction to Robotics: Analysis, Control,

 For a robot, we get:

Introduction to Robotics: Analysis, Control,

 Large scale motions happen once; differential motions

Introduction to Robotics: Analysis, Control,

 A frame may move by any means, including as a result of

Joint differential bot

 Differential motions of a frame can be divided into the

Introduction to Robotics: Analysis, Control,

 The translation of a frame at differential values or

Introduction to Robotics: Analysis, Control,

 Small rotations of the frame, represented by

Introduction to Robotics: Analysis, Control,

 We use the following relationships:

sin  x   x (in radians)

Introduction to Robotics: Analysis, Control,

 Multiple differential rotations:

 Based on the previous slide, the order does not matter:

 Eliminating the higher-order differentials we get:

Rot (q, d )  Rot ( x,  x) Rot ( y,  y ) Rot ( z ,  z ) 

Introduction to Robotics: Analysis, Control,

 Assume we may have differential translation and rotations.

T  dT   [Trans(dx, dy, dz ) Rot (q, d )]T 

Introduction to Robotics: Analysis, Control,

 Differential Operator can be derived.

Introduction to Robotics: Analysis, Control,

 Represents the changes in each of the elements in the

Introduction to Robotics: Analysis, Control,

 A differential change can be relative to the reference

 Differential change can be can be calculated directly, or

 The differential motions of the robot can be expressed by:

Introduction to Robotics: Analysis, Control,

 Use the previous equation to relate the robot joint

Introduction to Robotics: Analysis, Control,

 Direct derivation is possible for position equations, but not

 If joint i under consideration is a revolute

 If joint i under consideration is a prismatic

 Where the information comes from:

For column 1, use oT6  A1 A2 A3 A4 A5 A6

Introduction to Robotics: Analysis, Control,

 Inverse Jacobian is the real objective

 Can be calculated from the Jacobian, but impractical for a

Introduction to Robotics: Analysis, Control,

 Example: 6-axis robot first joint:

S 234 [ax S1d1  C1dax  a y C1d1  S1da y ]  C234 daz

Introduction to Robotics: Analysis, Control,

2a2 a3 S3 d3  2( p xC1  p y S1  C234 a4 )

Introduction to Robotics: Analysis, Control,