Scribd
Upload
37 views

Robot Lectures

This document discusses the manipulator Jacobian matrix, which relates the velocity of the robot joints to the velocity of the tool. It introduces the manipulator Jacobian matrix and explains the difference between the tool configuration Jacobian matrix and the manipulator Jacobian matrix. The document then derives the expression for the manipulator Jacobian matrix and provides examples of calculating the Jacobian for specific robots, like the Adept One and Rhino robots. It also briefly discusses robot singularities.

Uploaded by

_MerKeZ_
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
37 views

Robot Lectures

This document discusses the manipulator Jacobian matrix, which relates the velocity of the robot joints to the velocity of the tool. It introduces the manipulator Jacobian matrix and explains the difference between the tool configuration Jacobian matrix and the manipulator Jacobian matrix. The document then derives the expression for the manipulator Jacobian matrix and provides examples of calculating the Jacobian for specific robots, like the Adept One and Rhino robots. It also briefly discusses robot singularities.

Uploaded by

_MerKeZ_
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 15

Kinematics and Dynamics of

Robotic Manipulators
Manipulator Jacobian - I

By Vasfi Emre mrl, Ph.D.


Introduction
In this lecture, you will learn:
- Find the Manipulator Jacobian Matrix for a
specific robot
- Explain the difference between the tool
configuration Jacobian matrix and the
manipulator Jacobian matrix.

By Vasfi Emre mrl, Ph.D., 2007 2


The Manipulator Jacobian Matrix
Examine infinitesimal translations and rotations of the tool.

Let du be the infinitesimal displacement vector

What happens at the joint? Let dq= infinitesimal joint


displacement, then.

By Vasfi Emre mrl, Ph.D., 2007 3


Derivation of the Manipulator Jacobian
Matrix

Let J (q ) =

Find an expression for A(q) and B(q)

By Vasfi Emre mrl, Ph.D., 2007 4


Let bk(q) be the kth column of B(q), then

d=

What is bk(q) if joint k is prismatic?

What is joint k is revolute? Then links k, k+1, and the tool rotate
about zk-1

In general, for joint k

By Vasfi Emre mrl, Ph.D., 2007 5


By Vasfi Emre mrl, Ph.D., 2007 6
What is b1?
b1dq1 is the contribution to d by a rotation about z0 by
an amount dq1.
b1 is z0 in base coordinates

What is b2?

What is bk?

By Vasfi Emre mrl, Ph.D., 2007 7


The Manipulator Jacobian

Algorithm

By Vasfi Emre mrl, Ph.D., 2007 8


Example
Find the manipulator Jacobian for the Adept One (a 4 axis SCARA
robot)

By Vasfi Emre mrl, Ph.D., 2007 9


By Vasfi Emre mrl, Ph.D., 2007 10
By Vasfi Emre mrl, Ph.D., 2007 11
By Vasfi Emre mrl, Ph.D., 2007 12
Example
Find the manipulator Jacobian for the five axis Rhino

We have A(q) from the first 3 rows of the tool configuration


Jacobian

.
By Vasfi Emre mrl, Ph.D., 2007 13
By Vasfi Emre mrl, Ph.D., 2007 14
Singularities

By Vasfi Emre mrl, Ph.D., 2007 15

You might also like