Introduction to ROBOTICS

Velocity Analysis
Jacobian

University of Bridgeport

Kinematic relations
1

2
3

4
5

6

X=FK()

Joint Space

=IK(X)

x
y

z
X

Task Space

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

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


2
z
3


x
4
y

5 J 1 ( ) X
z
6
Joint Space

Task Space

Jacobian
Suppose a position and orientation vector of a
manipulator is a function of 6 joint variables: (from
forward kinematics)
X = h(q)
h1 (q1 , q2 , , q6 )
q1
x
h (q , q , , q )
q
y
6
2
2 1 2


h3 (q1 , q2 , , q6 )
q3
z
X h( ) 61 h (q , q , , q )
6
4 1 2
q4

h5 (q1 , q2 , , q6 )
q5

h6 (q1 , q2 , , q6 ) 61
q6

Jacobian Matrix
Forward kinematics

X 61 h(qn1 )

d
dh(q) dq dh(q)

X 61 h(qn1 )

q
dt
dq dt
dq
x
y

z

x
y

z

q1
q
dh(q ) 2
dq

6n

q n n1

X 61 J 6n q n1

dh( q )
J
dq

Jacobian Matrix
x
y
q1

z dh(q ) q 2

x dq 6n

y
q n n1

dh(q )

J
dq 6n

Jacobian is a function of
q, it is not a constant!

h1
q
1
h2
q1

h
6
q1

h1
q2
h2
q2

h6
q2

h1

qn

h2

qn

h6

qn 6n

Jacobian Matrix
x
y

z V

X
x
y

z

Linear velocity

x
V y
z

The Jacbian Equation

X J 6n q n1

Angular velocity

y
z

q1
q
qn1 2

qn n1

Example
2-DOF planar robot arm
Given l1, l2 , Find: Jacobian
x l1 cos1 l2 cos(1 2 ) h1 (1 , 2 )
y l sin l sin( ) h ( , )
1
1
2
1
2
2 1 2
1
x

Y J

y
2

h1

J 1
h2
1

(x , y)

2
l2

1 l1

h1
2 l1 sin 1 l2 sin(1 2 ) l2 sin(1 2 )

h2 l1 cos1 l2 cos(1 2 ) l2 cos(1 2 )

2

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

 Find the singularity configuration of the 2-DOF

planar robot arm
determinant(J)=0

Not full rank

X J 1

y
2

l1 sin 1 l2 sin(1 2 ) l2 sin(1 2 )

J

l
cos

l
cos(

)
l
cos(

)
1
2
1
2
2
1
2
1

l2

2 =0
Det(J)=0

2 0

1 l1
x

(x , y)

Jacobian Matrix
Pseudoinverse
Let A be an mxn matrix, and let A be the pseudoinverse
of A. If A is of full rank, then A can be computed as:

AT [ AAT ]1
1

A A
[ AT A]1 AT

mn
mn
mn

Jacobian Matrix
Example: Find X s.t.

1 0 2
3
1 1 0 x 2

1 1
1 4
1
5 1
1

T
T 1
A A [ AA ] 0 1

1
2
9

2 0
4 2
Matlab Command: pinv(A) to calculate A+

5
1

x A b 13
9
16

Jacobian Matrix

Inverse Jacobian
J11
J
X Jq 21

J 61

q J X
1

J12 J16 q

J 22 J 26 q

q
q
J 62 J 66 q
1

q5

2
3
4

5
6

q1

Singularity
rank(J)<n : Jacobian Matrix is less than full rank
Jacobian is non-invertable
Boundary Singularities: occur when the tool tip is on the surface
of the work envelop.
Interior Singularities: occur inside the work envelope when two
or more of the axes of the robot form a straight line, i.e., collinear

Singularity
At Singularities:
the manipulator end effector cant move in
certain directions.
Bounded End-Effector velocities may
correspond to unbounded joint velocities.
Bounded joint torques may correspond to
unbounded End-Effector forces and torques.

Jacobian Matrix
If

ax
bx
A a y , B by
az
bz

Then the cross product

i
A B ax

j
ay

bx

by

k a y bz az by

az (axbz az bx )
bz ax by a y bx

Remember DH parmeter
ci
s
Ai i
0

-c isi

s i s i

ci c i

-s i c i

s i

c i

a i ci
a isi
di

The transformation matrix T

T0i A1 A2 ..... Ai

Jacobian Matrix
J J1

J2

....

Jn

Jacobian Matrix
2-DOF planar robot arm
Given l1, l2 , Find: Jacobian
Here, n=2,

(x , y)

2
l2

1 l1

ci
s
Ai i
0

-c isi

s i s i

ci c i

-s i c i

s i

c i

a i ci
a isi
di

Where (1 + 2 ) denoted by 12 and

0
Z 0 Z1 0
1

0
a1 cos 1
a1 cos 1 a2 cos(1 2 )
O0 0 , O1 a1 sin 1 , O2 a1 sin 1 a2 sin(1 2 )
0
0

19

Jacobian Matrix
2-DOF planar robot arm
Given l1, l2 , Find: Jacobian
Here, n=2

z0 (o2 o0 )
z1 (o2 o1 )
J1
, J2

z
z
0

(x , y)

2
l2

1 l1

Jacobian Matrix
z0 (o2 o0 )
J1

z
0

0 a1 cos 1 a2 cos(1 2 )
Z 0 (o2 o0 ) 0 a1 sin 1 a2 sin(1 2 )
1

0
i
j
k

0
0
1
a1 cos 1 a2 cos(1 2 ) a1 sin 1 a2 sin(1 2 ) 0
a1 sin 1 a2 sin(1 2 )
a1 cos 1 a2 cos(1 2 )

Jacobian Matrix
z1 (o2 o1 )
J2

0 a2 cos(1 2 )
Z1 (o2 o1 ) 0 a2 sin(1 2 )
1

0
i
j
k

0
0
1
a2 cos(1 2 ) a2 sin(1 2 ) 0
a2 sin(1 2 )
a2 cos(1 2 )

Jacobian Matrix
a1 sin 1 a2 sin(1 2 )
a cos a cos( )
1
2
1
2
1

0
J1

a2 sin(1 2 )
a cos( )
1
2
2

0
J2

The required Jacobian matrix J

J J1

J2

Stanford Manipulator
The DH parameters are:
ci
s
Ai i
0

-c isi

s i s i

ci c i

-s i c i

s i

c i

a i ci
a isi
di

Stanford Manipulator

T01 A1
c1c2
s c
T02 A1 A2 1 2
s2

c1c2
s c
3
T0 A1 A2 A3 1 2
s2

s1 c1s2
c1

s1s2

c2

s1 c1s2
c1

s1s2

c2

d 2 s1
d 2 c1
0

0
c1s2
s1
c1s2
z0 0 z1 c1 z2 s1s2 z3 s1s2


c2
1
0
c2

d 2 s1
d3c1s2 d 2 s1
0
d c O d s s d c

d3c1s2 d 2 s1 O0 O1 0 2 2 1 3 3 1 2 2 1

d3c2
d3 s1s2 d 2c1
0

d3c2

Stanford Manipulator
T04 A1 A2 A3 A4

T05 A1 A2 A3 A4 A5
T06 A1 A2 A3 A4 A5 A6

T4 =
[ c1c2c4-s1s4,
-c1s2, -c1c2s4-s1*c4, c1s2d3-sin1d2]
[ s1c2c4+c1s4, -s1s2, -s1c2s4+c1c4, s1s2d3+c1*d2]
[-s2c4, -c2, s2s4, c2*d3]
[ 0, 0, 0, 1]

c1c2 s4 s1c4
z4 s1c2 s4 c1c4

s2 s4

d3c1s2 d 2 s1
O4 d3 s1s2 d 2c1

d3c2

Stanford Manipulator
T5 =
[ (c1c2c4-s1s4)c5-c1s2s5, c1c2s4+s1c4, (c1c2c4-s1s4)s5+c1s2c5,
c1s2d3-s1d2]
[ (s1c2c4+c1s4)c5-s1s2s5, s1c2s4-c1c4, (s1c2c4+c1s4)s5+s1s2c5,
s1s2d3+c1d2]
[ -s2c4c5-c2s5, -s2s4, -s2c4s5+c2c5, c2d3]
[ 0, 0, 0, 1]

c1c2c4 s5 s1s4 s5 c1s2c5

z5 s1c2 c4 s5 c1s4 s5 s1s2c5

s2 c4 s5 c2c5

c1c2c4 s5 s1s4 s5 c1s2c5

z5 s1c2 c4 s5 c1s4 s5 s1s2c5

s2 c4 s5 c2c5

Stanford Manipulator
T5 =
[ (c1c2c4-s1s4)c5-c1s2s5, c1c2s4+s1c4, (c1c2c4-s1s4)s5+c1s2c5,
c1s2d3-s1d2]
[ (s1c2c4+c1s4)c5-s1s2s5, s1c2s4-c1c4, (s1c2c4+c1s4)s5+s1s2c5,
s1s2d3+c1d2]
[ -s2c4c5-c2s5, -s2s4, -s2c4s5+c2c5, c2d3]
[ 0, 0, 0, 1]

c1c2c4 s5 s1s4 s5 c1s2c5

z5 s1c2 c4 s5 c1s4 s5 s1s2c5

s2 c4 s5 c2c5

d3c1s2 d 2 s1
O5 d3 s1s2 d 2 c1

d3c2

Stanford Manipulator
T6 = [ c6c5c1c2c4-c6c5s1s4-c6c1s2s5+s6c1c2s4+s6s1c4, c5c1c2c4+s6c5s1s4+s6c1s2s5+c6c1c2s4+c6s1c4, s5c1c2c4-s5s1s4+c1s2c5,
d6s5c1c2c4-d6s5s1s4+d6c1s2c5+c1s2d3-s1d2]
[ c6c5s1c2c4+c6c5c1s4-c6s1s2s5+s6s1c2s4-s6c1c4, -s6c5s1c2c4s6c5c1s4+s6s1s2s5+c6s1c2s4-c6c1c4, s5s1c2c4+s5c1s4+s1s2c5,
d6s5s1c2c4+d6s5c1s4+d6s1s2c5+s1s2d3+c1d2]
[ -c6s2c4c5-c6c2s5-s2s4s6, s6s2c4c5+s6c2s5-s2s4c6, -s2c4s5+c2c5, d6s2c4s5+d6c2c5+c2d3]
[ 0, 0, 0, 1]

d6s5c1c2c4 d6s5s1s4 d6c1s2c5 c1s2d3 s1d2

O6 d6s5s1c2c4 d6s5c1s4 d6s1s2c5 s1s2d3 c1d2

d6s2c4s5 d6c2c5 c2d3

Stanford Manipulator
z0 (o6 o0 )
z1 (o6 o1 )
J1
, J2

z
z
0

z2
J3
0

Joints 1,2 are revolute

Joint 3 is prismatic

z3 (o6 o3 )
z5 (o6 o5 )
z4 (o6 o4 )
J4
, J5
, J6

z
z
z
3
5

The required Jacobian matrix J

J J1

J 2 J3 J 4 J5 J 6

Inverse Velocity
The relation between the joint and end-effector velocities:
X J (q )q

where j (mn). If J is a square matrix (m=n), the joint

velocities:
q J 1 (q ) X

If m<n, let pseudoinverse J+ where J J T [ JJ T ]1

q J (q ) X

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
d
q J 1 (q)[ X J (q)]q]
dt