Chapter 3

Differential Motions and Velocities

3.1 INTRODUCTION
 Definition of Differential Motion : A small movements of
mechanism that can be used to derive velocity relationships
between different parts of the mechanism.

In this chapters…….

 Differential Motions of frames relative to a fixed frame
 Jacobians and robot velocity relationships
 Chapter 3
Differential Motions and Velocities
3.2 DIFFERENTIAL RELATIONSHIPS
 Concept of the differential relationships :
The velocity of point B :
. ^ . ^ . . ^
V B  V A  V B / A  l1 1 sin 1 i  l1 1 cos1 j  l2 (1   2 ) sin(1   2 ) i
. . ^
 l2 (1   2 ) cos(1   2 ) j
V Bx   l1 sin 1  l2 sin(1   2 )  l2 sin(1   2 ) 1 
   
V B y   l1 cos 1  l2 cos(1   2 ) l2 cos(1   2 )  2 

Fig. 3.1 (a) A two-degree-of-freedom planar

mechanism and (b) a Velocity diagram
 Chapter 3
Differential Motions and Velocities
3.2 DIFFERENTIAL RELATIONSHIPS
Velocity relationship of point B :
 xB  l2 cos1  l2 cos(1   2 )

 y B  l1 sin 1  l2 sin(1   2 )

dxB  l2 sin 1d1  l2 sin(1   2 )(d1  d 2 )


 dy B  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 Motion of Joint
 Chapter 3
Differential Motions and Velocities
3.3 JACOBIAN
 Definition : Jacobian is a representation of the geometry of the
elements of a mechanism in time.
 Formation : Jacobian is formed from the elements of the position
equations that were differentiated with respect to 1 and 2.
 Assumption : A set of equations Yi in terms of a set of variables xj:
Yi  f i ( x1 , x2 , x3 , , x j )
 f1 f1 f1
 Y 1   x1   x 2    x j
x1 x2 x j

Y2  f 2 x1  f 2 x2    f 2 x j
 x1 x2 x j
 
 f i f i f i
  Yi   x1   x 2    x j
 x1 x2 x j
 Chapter 3
Differential Motions and Velocities
3.3 JACOBIAN
 f1 f1 f1 
Y1   x1  x1 
  x2 x j   
 
   f 2  
Y2 
 

 x1
    x2 
  Matrix Representation
      
  
 
 





 
 Yi    f i x j 
   f i 
f i  
  xi 
 Yi    x j 
  x j   
 x1

dx   d 1 
dy   d 
   2
dx   Robot  d 3  Differentiating the position
    d  equations of a robot
x
   Jacobian  4  D   J D 
y   d 5 
   

 
z 
 6 
d
 Chapter 3
Differential Motions and Velocities
3.4 DIFFERENTIAL MOTIONS OF A FRAME
 The differential motion of a hand frame of the robot are caused by the
differential motions in each of the joints of the robot.

 The differential motion of a frame:

 Differential translations,
 Differential rotations,
 Differential transformations(translations and rotations).

Fig. 3.2 (a) Differential motions of a frame and (b) differential motions of a frame
as related to the differential motions of a robot. (b) a Velocity diagram
 Chapter 3
Differential Motions and Velocities
3.4.1 Differential Translations

 Definition : A translation of a frame at differential

values.
 Representation : Trans(dx, dy, dz)

 The frame has moved a differential amount along the 3 axes.

 Chapter 3
Differential Motions and Velocities
3.4.2 Differential rotations

 Definition : A small rotation of a frame at differential values.

 Representation : Rot(k, d)
^
 The frame has rotated an angle of d about an axis k
 Differential rotation about x, y, z-axis is x, y, z, respectively.

1 0 0 0 1 0  y 0  1  z 0 0
0 1  x 0 0 1 0 0 z 1 0 0
Rot ( x, x)   Rot ( y, y )   Rot ( z , z )  
0 x 1 0  y 0 1 0 0 0 1 0
     
0 0 0 1 0 0 0 1 0 0 0 1

Rot ( x, x) Rot ( y, y )  Rot ( y, y ) Rot ( x, x)

 Chapter 3
Differential Motions and Velocities
^
3.4.3 Differential Rotation about a General Axis k
^
 A differential motion about a general axis k is composed of 3
differential motions about the 3 axes, in any order.
Rot (k , d )  Rot ( x, x) Rot ( x, x) Rot ( x, x)
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 y0   1  z y 0 
 Neglect the higher
 xy  z  xyz  1 0  z 1  x 0
 x order differential motion
  (xy, -xyz, xz, yz)
 y  xz x  yz 1 0    y x 1 0 
   
 0 0 0 1  0 0 0 1