Chapter 3

Differential Motions and Velocities

3.8 CALCULATION OF THE JACOBIAN
 The velocity equation relative to the last frame

[T6 D] [T6 J ][ D ]
 The differential motion relationship of Equation
 T6 d x   T6 J11 T6 J12  J16  d1 
T6

 T6   T6 
 J 26  d 2 
T6
 d y   J 21 T6 J 22
 T6 d z   T6 J 31  T6 J 36  d 3 
    
 T6 x   T6 J 41   J 46  d 4 
T6

 T6   T6 
  x   J 51   T6 J 56  d 5 
 
 T6   T6  T6 J 66  d 6 
  x   J 61  
 Chapter 3
Differential Motions and Velocities
3.9 HOW TO RELATE THE JACOBIAN AND THE DIFFERENTIAL OPERATOR

 The differential motions of the robot’s joints are ultimately related to

the hand frame of the robot.

 Equ. 3.10 and Jacobian calculate [D] matrix

 [D] contains differential motions of the hand,
dx, dy, dz, x, y, z.
 Equ. 3.15 used to calculate dT

 Equ. 3.24 and Jacobian calculate [T6D] matrix

 [D] contains differential motions of the hand,
T6dx, T6dy, T6dz, T6x, T6y, T6z.

 Equ. 3.19 used to calculate dT

 Chapter 3
Differential Motions and Velocities
3.10 INVERSE JACOBIAN

 Inverse Jacobian used to calculate the differential motions needed at

the joints of the robot for a desired hand differential motion.
 Inverse Jacobian calculates how fast each joint must move so that the
robot’s hand will yield a desired differential motion or velocity.

 To make sure the robot follows a desired path, the joint velocities must
be calculated continuously in order to ensure that the robot’s hand
maintains a desired velocity.

[ D]  [ J ][ D ]
[ J 1 ][ D]  [ J 1 ][ J ][ D ]  [ D ]  [ J 1 ][ D]
[T6 J 1 ][T6 D] [T6 J 1 ][T6 J ][ D ]  D [T6 J 1 ][T6 D]