Kinematics: Velocity

Kinematics - the Jacobian

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 Kinematics: Velocity Kinematics
- the Jacobian

• Skew Symmetric Matrices

• Linear and Angular Velocities of a
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Moving Frame

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 Special orthogonal group
An example of Lie groups
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 Reflection
y u

y’

y
y u
v 
y’ x’ x x
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u  cos i  sin j
y u   sin i  cos j

  x '  xy 1 0  uv  x
 y '  uvT  0  1 xyT   y 
x      
x’ x
 x '  cos   sin   1 0   cos  sin    x 
 y '   sin  cos    0  1   sin  cos     y 
x '  l cos(   )  l cos  cos   sin  sin    x cos   y sin           
y '  l sin(   )  l sin  cos   sin  cos    x sin   y cos   x '  cos  sin    cos  sin    x 
 y '   sin   cos     sin  cos     y 
 x '  cos   sin    x         
 '    
 y  sin   cos    y   x '  cos2   sin 2  2 cos  sin    x 
 y '    
   2 cos  sin   (cos 2
  sin 2
 )   y
 x '  cos 2 sin 2   x 
 y '   sin 2  cos 2 )   y 
      4
 Reflection
• Reflection about the x axis: Just flip the y coordinate
• Reflection about the y axis: Just flip the x coordinate
• Reflection about the origin, flip both coordinates
Reflection about x axis Reflection about y axis Reflection about origin

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2 3 3’ 2’ 2 3 2 3
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3’ 2’
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2’ 3’

1’
1’

1 0 0 -1 0 0 -1 0 0
0 -1 0 0 1 0 0 -1 0
0 0 1 0 0 1 0 0 1
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d

d
d
d
d

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 Derivative of Rotation Matrix
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    
 S ( a )  S ( a )  S ( (t )) 13
 Kinematics: Velocity Kinematics
- the Jacobian

• Skew Symmetric Matrices

• Linear and Angular Velocities
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of a Moving Frame

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 wrt: with regard to
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 Kinematics: Velocity Kinematics
- the Jacobian

• Manipulator Jacobian
• Analytical Jacobian
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• Singularities
• Inverse Velocity and Manipulability

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Euler ZYZ

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Chain Rule

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)
(
1
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 Linear Velocity

Case 1: Prismatic Joints

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 0
O 0
J vi  n
 Ri01 0  zi01
qi  
1
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 Linear Velocity
Case 2: Revolute Joints

 0  i 1
On  S ( zi01 ) Ri0Oni  Ri01 Oi
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i i
ai ci   ai si 
  
 S ( zi01 ) Ri0Oni  Ri01 ai si  S ( zi01 ) Ri0Oni  Ri01  ai ci 
i    
 d i   0 
 ai si  0  1 0 ai ci 
Ri01  ai ci   Ri01 1 0 0 ai si   Ri01S ( zii 1 )Oii 1
    
 0  0 0 0  d i 
 Ri01S ( zii 1 )[( Ri01 )T ( Ri01 )]Oii 1  S ( Ri01 zii11 ) Ri01Oii 1
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 S ( zi01 ) Ri01Oii 1
  ai si 
 S ( zi01 ) Ri0Oni  Ri01  ai ci 
  zi
 0 
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 S ( zi01 ) Ri0Oni  S ( zi01 ) Ri01Oii 1

 S ( zi01 )[ Ri0Oni  Ri01Oii 1 ]
 S ( zi01 )[On0  Oi01 ]
 zi01  [On0  Oi01 ]

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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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 Jacobian for Example
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1T2=
[ c1*c2 - s1^2, c1*s2 + c2*s1, 0, a1*c1 + a2*c1*c2 - a2*s1*s2]
[ c1*s1 + c2*s1, s1*s2 - c1*c2, 0, a1*s1 + a2*c1*s2 + a2*c2*s1]
[ 0, 0, -1, 0]
[ 0, 0, 0, 1]

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 Jacobian for Example
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 Jacobian for Example
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 Kinematics: Velocity Kinematics
- the Jacobian
• Manipulator Jacobian
• Analytical Jacobian
• Singularities
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• Inverse Velocity and Manipulability

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 The Jacobian matrix derived above is sometimes called the Geometric
Jacobian to distinguish it from the Analytical Jacobian, denoted Ja(q)
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 Kinematics: Velocity Kinematics
- the Jacobian
• Manipulator Jacobian
• Analytical Jacobian
• Singularities
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• Inverse Velocity and Manipulability

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 Singularities
– Algebra
Jacobian matrix becomes singular ( A matrix is singular if
its determinant is 0)

– Geometry
The joint screws (lines) are linearly dependent
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– Kinematics
The manipulator (instantaneously) loses one or more degrees of
freedom

– Statics
There exists one or more wrenches that can be resisted without
turning on the actuators
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 Wrist Singularities
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Arm Singularities

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 Kinematics: Velocity Kinematics
- the Jacobian
• Manipulator Jacobian
• Analytical Jacobian
• Singularities
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• Inverse Velocity and Manipulability

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