ME G511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao
Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G511
Examples on Velocity analysis
 Examples

 Example 1. Angular Velocity of a Frame: A moving

frame 𝟏 is represented by the following rotation matrix
𝑹, where 𝜶 is the angle of rotation of frame 𝟏 with
respect to the base frame 𝟎 and if 𝜶 is a function of
time, find the angular velocity of frame 𝟏 .

𝑪𝜶 −𝑺𝜶 𝟎
 0𝑹𝟏 = 𝑺𝜶 𝑪𝜶 𝟎
𝟎 𝟎 𝟏

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑪𝜶 −𝑺𝜶 𝟎
 0𝑹𝟏 = 𝑺𝜶 𝑪𝜶 𝟎
𝟎 𝟎 𝟏

 Solution: The given matrix is the fundamental rotation

matrix of frame 𝟏 about z-axis of frame 𝟎 .

 From the equation 𝑺 𝒕 = 𝑹ሶ 𝒕 𝑹𝑻 𝒕 ,

−𝜶𝑺𝜶ሶ ሶ
−𝜶𝑪𝜶 𝟎 𝑪𝜶 𝑺𝜶 𝟎
 𝑺 𝒕 = −𝜶𝑪𝜶
ሶ −𝜶𝑺𝜶ሶ 𝟎 −𝑺𝜶 𝑪𝜶 𝟎
𝟎 𝟎 𝟎 𝟎 𝟎 𝟏

𝟎 −𝜶ሶ 𝟎
 Or 𝑺 𝒕 = 𝜶ሶ 𝟎 𝟎
𝟎 𝟎 𝟎
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Comparing the equation
𝟎 −𝜶ሶ 𝟎
 𝑺 𝒕 = 𝜶ሶ 𝟎 𝟎 with the equation
𝟎 𝟎 𝟎

𝟎 −𝝎𝒛 𝝎𝒚
 𝑺 𝒕 = 𝝎𝒛 𝟎 −𝝎𝒙 gives
−𝝎𝒚 𝝎𝒙 𝟎

 𝝎𝒛 = 𝟎 𝟎 𝜶ሶ 𝑻, as the angular velocity of the frame

about 𝒛 − 𝒂𝒙𝒊𝒔, 𝝎𝒙 = 𝝎𝒚 = 𝟎.
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Example 2. Velocity of RR-Manipulator: Calculate the
velocity of the tip of the two-link, planar, RR-
manipulator arm shown in figure.

 SOLUTION: The frame assignments is carried out as explained

earlier and is shown in figure below.

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 After frame assignment, joint-link parameters are determined
from the frames assigned and are listed in table below.
𝑳𝒊𝒏𝒌 𝒊 𝒂𝒊 𝜶𝒊 𝜽𝒊 𝒅𝒊
𝟏 𝒍𝟏 0 𝜽𝟏 0
𝟐 𝒍𝟐 0 𝜽𝟐 0

 Frame 𝟐 is attached to the end of manipulator and

the velocity of origin of this frame is to be determined.

 This velocity can be expressed with respect to frame 𝟐

as well as with respect to frame 𝟎 .

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Because both the joints of manipulator are rotary,
 Linear Velocity is given by
𝒊 𝝏 𝟎𝑻𝒊
 𝒗𝒊 = σ𝒋=𝟏 𝒒ሶ 𝒋 𝒊𝑫𝒊
𝝏𝒒𝒋

 and angular velocity is given by

 𝝎𝒊 = 𝝎𝒊−𝟏 + 0𝑹𝒊−𝟏 𝒁𝒊−𝟏 𝒒ሶ 𝒊
 for 𝒊 = 𝟏, 𝟐 for the 2 DOF manipulator.

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The link transformation matrices are:
𝑪𝟏 −𝑺𝟏 𝟎 𝒍𝟏 𝑪𝟏 𝑪𝟐 −𝑺𝟐 𝟎 𝒍𝟐 𝑪𝟐
 𝟎𝑻𝟏 = 𝑺𝟏 𝑪𝟏 𝟎 𝒍𝟏 𝑺𝟏  𝟏𝑻𝟐 = 𝑺𝟐 𝑪𝟐 𝟎 𝒍𝟐 𝑺𝟐
𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 𝟎 𝒍𝟏 𝑪𝟏 + 𝒍𝟐 𝑪𝟏 𝑪𝟐 − 𝒍𝟐 𝑺𝟏 𝑺𝟐
𝟎 𝒍𝟏 𝑺𝟏 + 𝒍𝟐 𝑪𝟏 𝑺𝟐 + 𝒍𝟐 𝑺𝟏 𝑪𝟐
 𝟎𝑻𝟐 = 𝑪𝟏 𝑺𝟐 + 𝑺𝟏 𝑪𝟐 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏
𝑪𝟏𝟐 −𝑺𝟏𝟐 𝟎 𝒍𝟏 𝑪𝟏 + 𝒍𝟐 𝑪𝟏𝟐
𝟎 𝒍𝟏 𝑺𝟏 + 𝒍𝟐 𝑺𝟏𝟐
𝟎𝑻𝟐 = 𝑺𝟏𝟐 𝑪𝟏𝟐
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝝏 𝟎𝑻𝒊
 linear velocity is computed  𝒗𝒊 = σ𝒊𝒋=𝟏
𝝏𝒒𝒋
𝒒ሶ 𝒋 𝒊𝑫𝒊

𝝏 𝟎𝑻𝟏  and 𝝎𝒊 = 𝝎𝒊−𝟏 + 0𝑹𝒊−𝟏 𝒁𝒊−𝟏 𝒒ሶ 𝒊

 from 𝒗𝟏 = 𝜽ሶ 𝟏 𝟏𝑫𝟏
𝝏𝜽𝟏

−𝑺𝟏 −𝑪𝟏 𝟎 −𝒍𝟏 𝑺𝟏

 with
𝝏 𝟎𝑻𝟏
= 𝑪𝟏 −𝑺𝟏 𝟎 𝒍𝟏 𝑪𝟏
𝝏𝜽𝟏 𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎
𝟎 𝑪𝟏 −𝑺𝟏 𝟎 𝒍𝟏 𝑪𝟏
 and 𝟏𝑫𝟏 = 𝟎 .  𝟎𝑻𝟏 = 𝑺𝟏 𝑪𝟏 𝟎 𝒍 𝟏 𝑺𝟏
𝟎 𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏
𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Note that the origin of frame 𝟏 is 𝟏𝑫𝟏 .

 The linear velocity of link 𝟏 is, thus 𝒗𝟏 =

−𝑺𝟏 𝑪𝟏 𝟎 𝟎 𝑻 𝜽ሶ 𝟏

 And the angular velocity is computed from 𝝎𝒊 =

෡ 𝒊−𝟏 𝒒ሶ 𝒊 ;
𝝎𝒊−𝟏 + 0𝑹𝒊−𝟏 𝒁

෡ 𝟎 𝜽ሶ 𝟏
 That is 𝝎𝟏 = 𝝎𝟎 + 0𝑹𝟎 𝒁
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
with
𝑻 ෡𝟎 = 𝟎 𝟎 𝟏
 𝝎𝟎 = 𝟎 𝟎 𝟎  𝒁 𝑻

𝟏 𝟎 𝟎
 and 0𝑹𝟎 = 𝟎 𝟏 𝟎
𝟎 𝟎 𝟏
 The angular velocity of link 𝟏 is found to be 𝝎𝟏 =
𝟎 𝟎 𝜽ሶ 𝟏 𝑻

 The linear velocity of the endpoint of link 𝟐 relative to

base frame is obtained as:
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝝏 𝟎𝑻𝒊
 𝒗𝒊 = σ𝒊𝒋=𝟏 𝒒ሶ 𝒋 𝒊𝑫𝒊
𝝏𝒒𝒋
 and 𝝎𝒊 = 𝝎𝒊−𝟏 + 0𝑹𝒊−𝟏 𝒁𝒊−𝟏 𝒒ሶ 𝒊

𝝏 𝟎𝑻𝟐
 𝒗𝟐 = ሶ𝜽𝟏 𝟐𝑫𝟐 + 𝝏 𝟎𝑻𝟐
𝜽ሶ 𝟐 𝟐𝑫𝟐
𝝏𝜽𝟏 𝝏𝜽𝟐

𝑪𝟏𝟐 −𝑺𝟏𝟐 𝟎 𝑪𝟏 + 𝑪𝟏𝟐

 𝟎𝑻𝟐 = 𝑺𝟏𝟐 𝑪𝟏𝟐 𝟎 𝑺𝟏 + 𝑺𝟏𝟐
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝝏 𝟎𝑻𝟐
 𝝏𝜽𝟏
=
−𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 𝑺𝟏 𝑺𝟐 − 𝑪𝟏 𝑪𝟐 𝟎 −𝑺𝟏 − 𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐
−𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟐 −𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 𝟎 𝑪𝟏 − 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟐
𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎

𝝏 𝟎𝑻𝟐
 and 𝝏𝜽𝟐
=
−𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 −𝑪𝟏 𝑪𝟐 + 𝑺𝟏 𝑺𝟐 𝟎 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐
−𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 𝟎 𝑪𝟏 𝑪 𝟐 − 𝑺𝟏 𝑺𝟐
𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The position vector of endpoint of link 𝟐 is origin of
frame 𝟐 , that is 𝟐𝑫𝟐 = 𝟎 𝟎 𝟎 𝟏 𝑻

𝝏 𝟎𝑻𝟐
 Substituting these in 𝒗𝟐 = 𝜽ሶ 𝟏 𝟐𝑫𝟐 +
𝝏𝜽𝟏
𝝏 𝟎𝑻𝟐
𝜽ሶ 𝟐 𝟐𝑫𝟐 gives,
𝝏𝜽𝟐

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 −𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 𝑺𝟏 𝑺𝟐 − 𝑪𝟏 𝑪𝟐 𝟎 −𝑺𝟏 − 𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 𝟎
𝟎 𝑪𝟏 − 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟐
 𝒗𝟐 = −𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟐 −𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 𝜽ሶ 𝟏 𝟎 +
𝟎 𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎 𝟏
−𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 −𝑪𝟏 𝑪𝟐 + 𝑺𝟏 𝑺𝟐 𝟎 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 𝟎
−𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 𝟎 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐
𝜽ሶ 𝟐 𝟎
𝟎 𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎 𝟏

−𝑺𝟏 − 𝑺𝟏 𝑪𝟐 − 𝑪𝟏 𝑺𝟐 −𝑪𝟏 𝑺𝟐 − 𝑺𝟏 𝑪𝟐 −𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐

𝑪𝟏 − 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟐 ሶ 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 ሶ 𝑪𝟏 + 𝑪𝟏𝟐 ሶ 𝑪𝟏𝟐 ሶ
 𝒗𝟐 = 𝜽𝟏 + 𝜽𝟐 = 𝜽𝟏 + 𝜽𝟐
𝟎 𝟎 𝟎 𝟎
𝟎 𝟎 𝟎 𝟎

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 −𝑺𝟏 𝜽ሶ 𝟏 − 𝑺𝟏𝟐 𝜽ሶ 𝟏 − 𝑺𝟏𝟐 𝜽ሶ 𝟐 −𝑺𝟏 𝜽ሶ 𝟏 − 𝑺𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
ሶ ሶ ሶ ሶ ሶ ሶ
Or 𝒗𝟐 = 𝑪𝟏 𝜽𝟏 + 𝑪𝟏𝟐 𝜽𝟏 + 𝑪𝟏𝟐 𝜽𝟐 = 𝑪𝟏 𝜽𝟏 + 𝑪𝟏𝟐 𝜽𝟏 + 𝜽𝟐 ;
𝟎 𝟎
𝟎 𝟎

−𝑺𝟏 𝜽ሶ 𝟏 − 𝑺𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
 Then 𝒗𝟐 = 𝑪𝟏 𝜽ሶ 𝟏 + 𝑪𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 ;
𝟎

 And for the angular velocity of the endpoint, 𝝎𝟐 =

𝝎𝟏 + 0𝑻𝟏 𝒁𝟏 𝜽ሶ 𝟐
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑪𝟏 −𝑺𝟏 𝟎 𝑪𝟏
 From the relations 𝟎𝑻𝟏 = 𝑺𝟏 𝑪 𝟏 𝟎 𝑺𝟏
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏

𝑪𝟐 −𝑺𝟐 𝟎 𝑪𝟐
 𝟏𝑻𝟐 = 𝑺𝟐 𝑪𝟐 𝟎 𝑺𝟐
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏

𝑻
 and 𝝎𝟏 = 𝟎 𝟎 𝜽ሶ 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟎 𝑪𝟏 −𝑺𝟏 𝟎 𝟎
 This becomes 𝝎𝟐 = 𝟎 + 𝑺𝟏 𝑪𝟏 𝟎 𝟎 𝜽ሶ 𝟐 ;
𝜽ሶ 𝟏 𝟎 𝟎 𝟏 𝟏

𝟎 𝟎 𝟎 𝟎
 Or 𝝎𝟐 = 𝟎 + 𝟎 𝜽ሶ 𝟐 ;  Hence, 𝝎𝟐 = 𝟎 + 𝟎 ;
𝜽ሶ 𝟏 𝟏 𝜽ሶ 𝟏 𝜽ሶ 𝟐

𝟎
 This simplifies to 𝝎𝟐 = 𝟎
𝜽ሶ 𝟏 +𝜽ሶ 𝟐

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Example 3. Jacobian of Articulated Arm: Determine the
manipulator Jacobian matrix for 𝟑 −DOF articulated arm
shown in figure.

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 SOLUTION: Each column of Jacobian matrix is computed
separately and all the columns are combined to form the
total Jacobian matrix.
 The joint displacements 𝜽𝟏 , 𝜽𝟐 𝒂𝒏𝒅 𝜽𝟑 and joint
velocities 𝜽ሶ 𝟏 , 𝜽ሶ 𝟐 𝒂𝒏𝒅 𝜽ሶ 𝟑 are shown in figure 14 and the
transformation matrices are given by equations

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑪𝟏 𝟎 𝑺𝟏 𝟎
−𝑪𝟏 𝟎
 𝟎𝑻𝟏 𝜽𝟏 = 𝑺𝟏 𝟎 ;
𝟎 𝟏 𝟎 𝟎
𝟎 𝟎 𝟎 𝟏

 𝟏𝑻𝟐 𝜽𝟐 =
𝑪𝟐 −𝑺𝟐 𝟎 𝑳𝟐 𝑪𝟐  𝟐𝑻𝟑 𝜽𝟑 =
𝑺𝟐 𝑪𝟐 𝟎 𝑳 𝟐 𝑺𝟐 𝑪𝟑 −𝑺𝟑 𝟎 𝑳𝟑 𝑪𝟑
𝟎 𝟎 𝟏 𝟎 𝑺 𝟑 𝑪𝟑 𝟎 𝑳 𝟑 𝑺𝟑
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑪𝟏 𝑪𝟐𝟑 −𝑪𝟏 𝑺𝟐𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 𝟎𝑻𝟑 = 𝟎𝑻𝟏 𝟏𝑻𝟐 𝟐𝑻𝟑 = 𝑺𝟏 𝑪𝟐𝟑 −𝑺𝟏 𝑺𝟐𝟑 −𝑪𝟏 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑺𝟐𝟑 𝑪𝟐𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎 𝟎 𝟎 𝟏

 Where 𝑪𝟐𝟑 = 𝒄𝒐𝒔 𝜽𝟐 + 𝜽𝟑 and 𝑺𝟐𝟑 = 𝒔𝒊𝒏 𝜽𝟐 + 𝜽𝟑 .

 The Jacobian matrix column 𝑱𝟏 for joint 𝟏, which is a

rotary joint, is determined as follows;

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑷𝒊−𝟏
𝒇𝒐𝒓 𝒂 𝒑𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄 𝒋𝒐𝒊𝒏𝒕
𝑱𝒗𝒊 𝟎
 In summary, it is 𝑱𝒊 𝒒 = = 𝑷𝒊−𝟏 X 𝒊 − 𝟏 𝑷𝒏
𝑱𝝎𝒊
𝒇𝒐𝒓 𝒂 𝒓𝒆𝒗𝒐𝒍𝒖𝒕𝒆 𝒋𝒐𝒊𝒏𝒕
𝑷𝒊−𝟏

 From equation 𝑷𝒊−𝟏 = 𝟎𝑹𝒊−𝟏 𝒖

ෝ , the joint axis vector
ෝ.
𝑷𝟎 𝑷𝒊−𝟏 𝒇𝒐𝒓 𝒊 = 𝟏 is 𝑷𝟎 = 𝟎𝑹𝟎 𝒖

 The transformation matrix 𝟎𝑻𝟎 and rotation 𝟎𝑹𝟎 are

the identity matrices.

 Thus,
𝟏 𝟎 𝟎 𝟎 𝟎
𝑷𝟎 = 𝟎 𝟏 𝟎 𝟎 = 𝟎 . 𝒊 − 𝟏 𝑷𝒏 = 𝟎𝑻𝒏 𝑶𝒏 − 𝟎𝑻 𝒊−𝟏 𝑶𝒏
𝟎 𝟎 𝟏 𝟏 𝟏
 𝑷𝒊−𝟏 = 𝟎𝑹𝒊−𝟏 𝒖
ෝ,

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑪𝟏 𝑪𝟐𝟑 −𝑪𝟏 𝑺𝟐𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 𝟎𝑻𝟑 = 𝑺𝟏 𝑪𝟐𝟑 −𝑺𝟏 𝑺𝟐𝟑 −𝑪𝟏 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑺𝟐𝟑 𝑪𝟐𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎 𝟎 𝟎 𝟏

 The end-effector position vector (for 𝒊 = 𝟏 and 𝒏 = 𝟑)

is determined from equation 𝒊 − 𝟏𝑷𝒏 = 𝟎𝑻𝒏 𝑶𝒏 −
𝟎𝑻𝒊−𝟏 𝑶𝒏 ,

 where 𝑶𝒏 = 𝑶𝟑 = 𝟎 𝟎 𝟎 𝟏 𝑻 .
𝟏 𝟎 𝟎 𝟎
 𝟎𝑷𝟑 = 𝟎𝑻𝟑 𝑶𝟑 − 𝟎𝑻𝟎 𝑶𝟑 . 𝟎𝑻𝟎 = 𝟎 𝟏 𝟎 𝟎
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏
𝟎 𝟎
 Or 𝟎𝑷𝟑 = 𝟎𝑻𝟑 𝟎 − 𝟎𝑻 𝟎
𝟎 𝟎 𝟎
𝟏 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Substituting 𝟎𝑻𝟑 from the equation

 𝟎𝑻𝟑 =
𝑪𝟏 𝑪𝟐𝟑 −𝑪𝟏 𝑺𝟐𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑺𝟏 𝑪𝟐𝟑 −𝑺𝟏 𝑺𝟐𝟑 −𝑪𝟏 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑺𝟐𝟑 𝑪𝟐𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎 𝟎 𝟎 𝟏

 in above equation 𝟎 𝟎
𝟎𝑷𝟑 = 𝟎𝑻𝟑 𝟎 − 𝟎𝑻 𝟎
𝟎 𝟎 𝟎
𝟏 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 gives 𝟎𝑷𝟑 =
𝑪𝟏 𝑪𝟐𝟑 −𝑪𝟏 𝑺𝟐𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 𝟎
𝑺𝟏 𝑪𝟐𝟑 −𝑺𝟏 𝑺𝟐𝟑 −𝑪𝟏 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 𝟎 −
𝑺𝟐𝟑 𝑪𝟐𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 𝟎
𝟎 𝟎 𝟎 𝟏 𝟏
𝟏 𝟎 𝟎 𝟎 𝟎
𝟎 𝟏 𝟎 𝟎 𝟎
𝟎 𝟎 𝟏 𝟎 𝟎
𝟎 𝟎 𝟎 𝟏 𝟏

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 𝟎
 That is 𝟎𝑷𝟑 = 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 − 𝟎
𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 𝟎
𝟏 𝟏

𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 Or 𝟎𝑷𝟑 = 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The first column of Jacobian 𝑱𝟏 , is computed by
substituting equation
𝟎
 𝑷𝟎 = 𝟎 and
𝟏
𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 𝟎𝑷𝟑 = 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑱𝒗𝒊
 In equation 𝑱𝒊 𝒒 = =
𝝎𝒊
𝑷𝒊−𝟏
𝑷𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄 𝒋𝒐𝒊𝒏𝒕
𝟎
𝑷𝒊−𝟏 X 𝒊 − 𝟏 𝑷𝒏
𝑹𝒆𝒗𝒐𝒍𝒖𝒕𝒆 𝒋𝒐𝒊𝒏𝒕
𝑷𝒊−𝟏

𝑷𝒊−𝟏 X 𝒊 − 𝟏 𝑷𝒏 𝑷 X𝟎𝑷𝟑
 For revolute joint, 𝑱𝟏 = = 𝟎 =
𝑷𝒊−𝟏 𝑷𝟎
𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝟎
𝑺 𝑳 𝑪 + 𝑳𝟐 𝑪𝟐
𝟎 X 𝟏 𝟑 𝟐𝟑
𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟏
𝟎
𝟎
𝟎
𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝟎 −𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
X 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝟎 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
 𝑱𝟏 = 𝟏 = 𝟎
𝟎 𝟎
𝟎
𝟎
𝟎
𝟏
𝟏

 By following the similar steps for joint 𝟐 and joint 𝟑, 𝑱𝟐

and 𝑱𝟑 are obtained as

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒊 − 𝟏 𝑷𝒏 = 𝟎𝑻𝒏 𝑶𝒏 − 𝟎𝑻 𝒊−𝟏 𝑶𝒏 𝟏𝑷𝟑 = 𝟎𝑻𝟑 𝑶𝟑 − 𝟎𝑻𝟏 𝑶𝟑

 𝑷𝟏 = 𝟎𝑹𝟏 𝒖
ෝ,
 𝑷𝟐 = 𝟎𝑹𝟐 𝒖
ෝ,
𝟐𝑷𝟑 = 𝟎𝑻𝟑 𝑶𝟑 − 𝟎𝑻𝟐 𝑶𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
−𝑪𝟏 X 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
𝑷𝒊−𝟏 X 𝒊 − 𝟏 𝑷𝒏 𝑷𝟏 X𝟏𝑷𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
 𝑱𝟐 = = =
𝑷𝒊−𝟏 𝑷𝟏 𝑺𝟏
−𝑪𝟏
𝟏
−𝑪𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 −𝑳𝟑 𝑪𝟏 𝑺𝟐𝟑
−𝑺𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 −𝑳𝟑 𝑺𝟏 𝑺𝟐𝟑
𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 𝑳𝟑 𝑪𝟐𝟑
 𝑱𝟐 =  and 𝑱𝟑 =
𝑺𝟏 𝑺𝟏
−𝑪𝟏 −𝑪𝟏
𝟎 𝟎
𝑪𝟏 𝟎 𝑺𝟏 𝟎 𝑪𝟏 𝑪𝟐𝟑 −𝑪𝟏 𝑺𝟐𝟑 𝑺𝟏 𝑪𝟏 𝑳𝟑𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
−𝑪𝟏 𝟎  𝟎𝑻𝟑 = 𝑺𝟏 𝑪𝟐𝟑 −𝑺𝟏 𝑺𝟐𝟑 −𝑪𝟏 𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 𝟎𝑻𝟏 𝜽𝟏 = 𝑺𝟏 𝟎 ; 𝑺𝟐𝟑 𝑪𝟐𝟑 𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎 𝟏 𝟎 𝟎
𝟎 𝟎 𝟎 𝟏
𝟎 𝟎 𝟎 𝟏
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 −𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 −𝑪𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 −𝑺𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐
𝟎  𝑱𝟐 = 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐
 𝑱𝟏 = 𝑺𝟏
𝟎
𝟎 −𝑪𝟏
𝟏 𝟎
−𝑳𝟑 𝑪𝟏 𝑺𝟐𝟑
−𝑳𝟑 𝑺𝟏 𝑺𝟐𝟑
𝑳𝟑 𝑪𝟐𝟑
 𝑱𝟑 =
𝑺𝟏
−𝑪𝟏
𝟎

 Combining the three columns, the total Jacobian matrix for the
articulated arm is
−𝑺𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 −𝑪𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 −𝑳𝟑 𝑪𝟏 𝑺𝟐𝟑
𝑪𝟏 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 −𝑺𝟏 𝑳𝟑 𝑺𝟐𝟑 + 𝑳𝟐 𝑺𝟐 −𝑳𝟑 𝑺𝟏 𝑺𝟐𝟑
𝟎 𝑳𝟑 𝑪𝟐𝟑 + 𝑳𝟐 𝑪𝟐 𝑳𝟑 𝑪𝟐𝟑
𝑱 =
𝟎 𝑺𝟏 𝑺𝟏
𝟎 −𝑪𝟏 −𝑪𝟏
𝟏 𝟎 𝟎
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Example 4. SINGULARITIES AND JOINT VELOCITIES OF A
2- DOF ARM: For the 2-DOF-planar arm shown below,
assuming both the links of unit length, determine (a)
configuration singularities, and (b) joint velocities in
terms of endpoint velocities.

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 SOLUTION: To determine the singularities of a given
configuration manipulator Jacobian is required.

 The Jacobian can be computed using equation

𝑱𝒗𝒊 𝑷𝒊−𝟏
 𝑱𝒊 𝒒 = = 𝒇𝒐𝒓 𝑷𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄 𝒋𝒐𝒊𝒏𝒕,
𝝎𝒊 𝟎

 which requires position vectors and unit vector of joint

axes.
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 From the equations given below, position vectors for
various links are
𝑪𝟏 −𝑺𝟏 𝟎 𝑪𝟏 𝑪𝟐 −𝑺𝟐 𝟎 𝑪𝟐
𝟎 𝑺𝟐
 𝟎𝑻𝟏 = 𝑺𝟏 𝑪𝟏 𝟎 𝑺𝟏  𝟏𝑻𝟐 = 𝑺𝟐 𝑪𝟐
𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

𝑪𝟏𝟐 −𝑺𝟏𝟐 𝟎 𝑪𝟏 + 𝑪𝟏𝟐

 𝟎𝑻𝟐 = 𝑺𝟏𝟐 𝑪𝟏𝟐 𝟎 𝑺𝟏 + 𝑺𝟏𝟐
𝟎 𝟎 𝟏 𝟎
𝟎 𝟎 𝟎 𝟏

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟎 𝑪𝟏
 𝟎𝑷𝟎 = 𝟎  𝟎𝑷𝟏 = 𝑺𝟏
𝟎 𝟎

𝑪𝟏 + 𝑪𝟏𝟐
 𝟎𝑷𝟐 = 𝑺𝟏 + 𝑺𝟏𝟐
𝟎

 The unit vectors along the revolute joint axes are

𝑻
 𝒖
ෝ𝟎 = 𝒖
ෝ𝟏 = 𝟎 𝟎 𝟏
 The Jacobian is given by equation
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑷𝒊−𝟏
𝑷𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄 𝒋𝒐𝒊𝒏𝒕
𝑱𝒗𝒊 𝟎
 𝑱𝒊 𝒒 = = 𝑷𝒊−𝟏 X 𝒊 − 𝟏 𝑷𝒏
𝝎𝒊 𝑹𝒆𝒗𝒐𝒍𝒖𝒕𝒆 𝒋𝒐𝒊𝒏𝒕
𝑷𝒊−𝟏

ෝ 𝟎 X 𝟎𝑷𝟐 − 𝟎𝑷𝟎
𝒖 ෝ 𝟏 X 𝟎𝑷𝟐 − 𝟎𝑷𝟏
𝒖
𝑱=
ෝ𝟎
𝒖 ෝ𝟏
𝒖
 Substituting the equations

𝟎 𝑪𝟏 𝑪𝟏 + 𝑪𝟏𝟐
 𝟎𝑷𝟎 = 𝟎  𝟎𝑷𝟏 = 𝑺𝟏  𝟎𝑷𝟐 = 𝑺𝟏 + 𝑺𝟏𝟐
𝟎 𝟎 𝟎

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑻
 And 𝒖
ෝ𝟎 = 𝒖
ෝ𝟏 = 𝟎 𝟎 𝟏

−𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐

𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐
 𝑱= 𝟎 𝟎
𝟎 𝟎
𝟎 𝟎
𝟏 𝟏

 Configuration singularities: In the Jacobian equation

above three rows are null and one row is unity.
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The arm has only 𝟐 − 𝑫𝑶𝑭, that is, it requires only two
variables to be controlled.

 Hence, the upper 𝟐𝑿𝟐 block of the Jacobian is only

significant and sufficient for computing positions of two
links.

 The significant Jacobian, to describe the relationship

between the joint velocities and the arm endpoint linear
velocity, is therefore,

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 ′ −𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐
 𝑱 =
𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐

 Alternatively, using the equations for linear velocity of

link 𝟏 & 2,

 𝒗𝟏 = −𝑺𝟏 𝑪𝟏 𝟎 𝟎 𝑻 𝜽ሶ 𝟏 and
−𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐
−𝑺𝟏 𝜽ሶ 𝟏 − 𝑺𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐
𝟎 𝟎
 𝒗𝟐 = 𝑪𝟏 𝜽ሶ 𝟏 + 𝑪𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 ; 𝑱=
𝟎 𝟎
𝟎 𝟎
𝟎 𝟏 𝟏

𝒗 −𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐 𝜽ሶ 𝟏 ′ 𝜽𝟏

ሶ
 And using 𝒗𝒆 = = =𝑱
𝝎 𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐 ሶ𝜽𝟐 𝜽ሶ 𝟐

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Singularities of a configuration occur when determinant
of 𝑱′ vanishes.
 Hence determinant of 𝑱′ is

′ −𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐

 𝑱 =
𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐

 𝑱′ = −𝑺𝟏 − 𝑺𝟏𝟐 𝑪𝟏𝟐 + 𝑪𝟏 + 𝑪𝟏𝟐 𝑺𝟏𝟐

 𝑱′ = −𝑺𝟏 𝑪𝟏𝟐 − 𝑺𝟏𝟐 𝑪𝟏𝟐 + 𝑪𝟏 𝑺𝟏𝟐 + 𝑪𝟏𝟐 𝑺𝟏𝟐

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝑱′ = −𝑺𝟏 𝑪𝟏𝟐 − 𝑺𝟏𝟐 𝑪𝟏𝟐 + 𝑪𝟏 𝑺𝟏𝟐 + 𝑪𝟏𝟐 𝑺𝟏𝟐

 𝑱′ = −𝑺𝟏 𝑪𝟏𝟐 + 𝑪𝟏 𝑺𝟏𝟐

 𝑱′ = −𝑺𝟏 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑺𝟏 𝑪𝟐 + 𝑪𝟏 𝑺𝟐

𝟏𝟐
 ′
𝑱 = −𝑺𝟏 𝑪𝟏 𝑪𝟐 + 𝑺 𝑺𝟐 + 𝑺𝟏 𝑪𝟏 𝑪𝟐 + 𝑪𝟏 𝟐 𝑺𝟐

𝟏𝟐
 𝑱 = −𝑺𝟏 𝑪𝟏 𝑪𝟐 + 𝑺 𝑺𝟐 + 𝑺𝟏 𝑪𝟏 𝑪𝟐 + 𝑪𝟏 𝟐 𝑺𝟐
′

′ 𝟐 𝟐
 𝑱 = 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑺𝟐
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 ′ 𝟐 𝟐 𝟐 𝟐
 𝑱 = 𝑺𝟏 𝑺𝟐 + 𝑪𝟏 𝑺𝟐 = 𝑺𝟏 + 𝑪𝟏 𝑺𝟐 = 𝑺𝟐

 𝑱′ = 𝑺𝟐
 Note that the Jacobian determinant is independent of
first joint variable 𝜽𝟏 .

 The determinant vanishes for non-zero link lengths

whenever 𝜽𝟐 = 𝟎 or 𝜽𝟐 = 𝝅.

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Hence, singular configurations occur when arm-
endpoint is located either on the outer boundary (𝜽𝟐 = 𝟎
) or on the inner boundary (𝜽𝟐 = 𝝅 ) of the reachable
workspace, that is, fully retracted.

 At these values of 𝜽𝟐 , the two columns of 𝑱′ become

linearly dependent implying

 the Jacobian loses rank (and the rank becomes one);

 the tip velocity components 𝒗𝒙 and 𝒗𝒚 are not

independent,
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 and the two links are collinear, as in figure 10.

 Joint velocities: The joint velocities in terms of endpoint

velocities 𝒗𝒙 and 𝒗𝒚 are obtained from equation,

Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒗 𝒅 ሶ
 𝒗𝒆 = = = 𝑱 𝒒 𝒒ሶ 𝒕
𝝎 𝜽ሶ
𝒗𝒙 𝜽 ሶ𝟏
 That is  𝒗 =𝑱 ′
𝒚 𝜽ሶ 𝟐

𝜽ሶ 𝟏 ′ −𝟏
𝒗𝒙
 Or  =𝑱 𝒗𝒚
𝜽ሶ 𝟐
−𝑺𝟏 − 𝑺𝟏𝟐 −𝑺𝟏𝟐
𝑨𝒅𝒋
 The inverse of 𝑱′ is 𝑪𝟏 + 𝑪𝟏𝟐 𝑪𝟏𝟐
𝑱′ −𝟏
=
𝑺𝟐
𝑪𝟏𝟐 𝑺𝟏𝟐
−𝑪𝟏 − 𝑪𝟏𝟐 𝑺𝟏 + 𝑺𝟏𝟐
𝑱′ −𝟏
=
𝑺𝟐
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Thus, the joint velocities are
𝑪𝟏𝟐 𝑺𝟏𝟐
𝜽ሶ 𝟏 −𝑪𝟏 −𝑪𝟏𝟐 𝑺𝟏 +𝑺𝟏𝟐 𝒗𝒙
 = ∗ 𝒗
𝜽ሶ 𝟐 𝑺𝟐 𝒚

𝒗𝒙 𝑪𝟏𝟐 +𝒗𝒚 𝑺𝟏𝟐

 𝜽ሶ 𝟏 =
𝑺𝟐
−𝒗𝒙 𝑪𝟏 +𝑪𝟏𝟐 +𝒗𝒚 𝑺𝟏 +𝑺𝟏𝟐
ሶ
 𝜽𝟐 =
𝑺𝟐

 At regions near the singular points, the denominator in

𝒗𝒙 𝑪𝟏𝟐 +𝒗𝒚 𝑺𝟏𝟐
equations for 𝜽ሶ 𝟏 = and 𝜽ሶ 𝟐 = −𝒗𝒙 𝑪𝟏 +𝑪𝟏𝟐 +𝒗𝒚 𝑺𝟏 +𝑺𝟏𝟐 is
𝑺 𝟐 𝑺 𝟐
almost zero.
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 That is, to move the endpoint in the vicinity of the
singularities excessively, large joint velocities are
required.

 The joint velocity profiles for tracking a specified

trajectory at specified speed (𝒗𝒙 , 𝒗𝒚 ) can be obtained by
finding the angles that correspond to the endpoint
position on the trajectory, that is 𝜽𝟏 (𝒕) and 𝜽𝟐 (𝒕).

THANK YOU
Lecture 23 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus