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
 Chapter 3
Differential Motions and Velocities
3.4.4 Differential Transformations of a Frame
 Definition : A combination of differential translations and rotations.
  : Differential Operator
  Trans (dx, dy, dz )  Rot (k , d )  I
1 0 0 dx   1  z y 0 1 0 0 0
0 1 0 dy   z 1  x 0 0 1 0 0
 
0 0 1 dz  y x 1 0 0 0
   1 0
    
0 0 0 1  0 0 0 1  0 0 0 1

 0  z  y dx 
 z 0  x dy 
 
  y  x 0 dz 
 
 0 0 0 0 
 Chapter 3
Differential Motions and Velocities
3.5 INTERPRETATION OF THE DIFFERENTIAL CHANGE
 Matrix dT represents the changes in a frame as a result of differential
motions.
 Each element of the matrix represents the change in the corresponding
element of the frame.

 dnx dox da x dp x 
dn do da dp 
dT   y y y y

 dnz doz da z dp z 
 
 0 0 0 0 
 Chapter 3
Differential Motions and Velocities
3.6 DIFFERENTIAL CHANGES BETWEEN FRAMES
[T ]1[][T ]  [T ]1[T ][T ]
[dT ]  [][T ]  [T ][T ]
[T ]  [T ]1[][T ]

nx n y nz  p  n   0  z y dx 
o o y oz  p  o   z 0  x dy 
T 1    
x

a x a y az  p  a  y x 0 dz 
     T x    n
0 0 0 1   0 0 0 0  T
  y   o
 T z    a
 0  T z T y T
dx  
T  T
 z 0  T
x T
dy   d x  n  [(  p )  d ]
[T ][][T ]    T
1 T
 T d y  o  [(  p )  d ]
  y T x 0 T
dz 
  
 0 0 0 0   T d z  a  [(  p )  d ]
 Chapter 3
Differential Motions and Velocities
3.7 DIFFERENTIAL MOTIONS OF A ROBOT AND ITS HAND FRAME

 Relation between the differential motions of the joint of the robot and
the differential motions of the hand frame and dT.
 It is a function of the robot’s configuration and design and its instantaneous
location and orientation.

dx   d 1 
dy   d 
   2
dx   Robot  d 3  OR D   J D 
    d 
x
   Jacobian  4 
y   d 5 
   
z  d 6 
 Chapter 3
Differential Motions and Velocities
3.8 CALCULATION OF THE JACOBIAN

 Key point : Each element in the jacobian is the derivative of a corresponding

kinematic equation with respect to one of the variables.

Consult Example 2.19 and below….  p x

 1  J11   S1 (C234 a4  C23a3  C2 a2 )

 p x  J12  C1 ( S 234 a4  S 23a3  S 2 a2 )
  2
 p x  C1 (C234 a4  C23 a3  C2 a2 ) 
 p   S (C a  C a  C a )   p x  J13  C1 ( S 234 a4  S 23a3 )
  3
 x    1 234 4 23 3 2 2  
 p x   S 234 a4  S 23 a3  S 2 a2   p x  J14  C1 ( S 234 a4 )
Taking the derivative of px   4
     p x
1
   1    J15  0
  5
The last column of the forward  p x
kinematic equation of the robot   J16  0
  6
The first row of the Jacobian
 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]