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LECTURE 7
JACOBIAN

Dr. Shady A. Maged

Kinematic relations

1 X=FK() x
y
2
3 z
X
4
5
=IK(X)
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Task Space
Joint Space
Or Cartesian
space

Location of the tool can be specified using a joint space or a cartesian space
description
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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

 Velocity relations
Relation between joint velocity and cartesian velocity.
JACOBIAN matrix J()
1 X J ( ) x
y
2
3 z

4 x
y
5 J ( ) X
1
6 z
Joint Space Cartesian space
or Task Space

The Jacobian is used to map motion between joint and Cartesian space, an
essential operation when curvilinear robot motion is required in applications
such as welding or assembly.
Jacobian Matrix
x
y Linear velocity Angular velocity
q1
z V x x q
q n1 2

X
x V y
y
y
z z q n n1

z

The Jacbian Equation

X J 6n q n1
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Velocity analysis between Cartesian Space

and Joint Space
1 1

v 2 2 J 1 v
J


n n
Jacobian Matrix If J is singular
Transformation/Mapping it is not invertible
Singular point/configuration
(Important issue in robot design When = 0/180
2
that should be avoided) singular configuration

The Jacobian is important to determine the torque in the joints needed to be

applied to give a specific contact force at the End-Effector (Static problem)
Singularities
The inverse of the jacobian matrix cannot be calculated
when
det [J()] = 0

Singular points are such values of that cause the determinant of the
Jacobian to be zero
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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Forward Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

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Inverse Instantaneous Kinematics

 Acceleration
The relation between the joint and end-effector velocities:

X J (q )q

Differentiating this equation yields an expression for the

acceleration:
d
X J (q )q [ J (q )]q
dt
Given X of the end-effector acceleration, the joint
acceleration q
d
J (q)q X [ J (q )]q
dt
1 d
q J (q )[ X J (q )]q ]
dt