EENG428 Introduction to Robotics – QUIZ

Name Surname SOLUTION

Student Number

The link parameters list of a spherical (RRP) manipulator is given below.

Determine the Jacobian with respect to hand frame.

θ d a α
θ1 0 0 90
θ 2 + 90 0 0 90
0 d3 0 0

Cθi − Sθi Ca i Sθi Sa i ai Cθi 

 Sθ Cθi Ca i −Cθi Sa i ai Sθi 
Ai =  i
 0 Saa i C i di 
 
 0 0 0 1 

Since the robot has 3 joints, the jacobiam matrix will have 3 columns.
T3
J =  T3 J1 T3
J2 T3
J 3 

And in order to find

T3
J1 → A1 A2 A3
T3
J 2 → A2 A3
T3
J 3 → A3

Will be used.

If the joint i is revolute

 − nx p y + n y p x 
 −o p + o p 
 x y y x

 − a p + a y px

T3
Ji =  x y 
 nz 
 oz 
 
 az 

If the joint is prismatic

  nz 
o 
 z
a 
T3
Ji =  z 
0
0
 
0

Cθ1 0 Sθ1 0  C (θ 2 + 90) 0 S (θ 2 + 90) 0   − Sθ 2 0 Cθ 2 0

 Sθ 0 −Cθ 0   S (θ + 90) 0 −C (θ + 90) 0   0 
A1 =  1
= 1  A2 = 2 2   Cθ 2 0 Sθ 2
 0 1 0 0  0 1 0 0  0 1 0 0
     
 0 0 0 1  0 0 0 1  0 0 0 1

1 0 0 0
0 1 0 0 
A3 = 
0 0 1 d3 
 
0 0 0 1

 − Sθ 2 0 Cθ 2 d3Cθ 2   −Cθ1Sθ 2 Sθ1 Cθ1Cθ 2 d3Cθ1Cθ 2 

 Cθ 0 Sθ 2 
d3 Sθ 2   − Sθ1Sθ 2 −Cθ 2 Sθ1Cθ 2 d3 Sθ1Cθ 2 
A2 A3 =  2 A1 A2 A3 = 
 0 1 0 0   Cθ 2 0 Sθ 2 d3 Sθ 2 
   
 0 0 0 1   0 0 0 1 

The first joint is revolute.

Therefore

 d3C1S 2 S1C2 − d3 S1S 2C1C2   0 

 − d S 2C − d C 2C   −d C 
 3 1 2 3 1 2   3 2
 −d3C22C1S1 + d3C22C1S1   0 
=
T3
J1   
 C2   C2 
 0   0 
   
 S2   S 2 

The second joint is also revolute

  d3 S 22 + d3C22   d3 
  0
 0   
 −d3C2 S 2 + d3 S 2C2  0
=T3
J 2 =   
 0  0
 1  1
   
 0  0

The third joint is prismatic

0 
0 
 
1 
T3
J3 =  
0 
0 
 
0 

Therefore

 0 d3 0
 −d C 0 0 
 3 2
 0 0 1
T3
J = 
 C2 0 0
 0 1 0
 
 S 2 0 0 