Ho Chi Minh city University of Technology and Education

Faculty of Electrical & Electronics Engineering

Robotics and Intelligent Control Laboratory

Topic 7: Jacobians: Velocities and

Static forces

Presenter: Dr. Duc Thien, Tran

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 Contents

Topic 1: Introduction
Topic 2: Basic robotic concepts
Topic 3: Spatial Representations of Rigid Bodies
Topic 4: Forward Kinematics of Robot Manipulators
Topic 5: Inverse Kinematics of Robot Manipulators
Topic 6: Kinematic Trajectory Generation.
Topic 7: Jacobians: Velocities and Static forces

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 References

1. John, J Craig, “Introduction to Robotics: Mechanics and Control”

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 Outline:

7.1 INTRODUCTION
7.2 NOTATION FOR TIME-VARYING POSITION AND ORIENTATION
7.3 LINEAR AND ROTATIONAL VELOCITY OF RIGID BODIES
7.4 MOTION OF THE LINKS OF A ROBOT
7.5 VELOCITY "PROPAGATION" FROM LINK TO LINK
7.6 JACOBIANS
7.7 SINGULARITIES
7.8 STATIC FORCES IN MANIPULATORS
7.9 JACOBIANS IN THE FORCE DOMAIN

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 Introduction

1. In this Chapter the following concepts will be studied:

The linear and angular velocity of a rigid body to analyze the motion of the
manipulator
Forces that act on a rigid body (application on static forces of a manipulator)
➔ Jacobian matrix relations

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 Introduction
1. Velocity analysis between Cartesian Space and Joint Space
1  1 
   
v  2   2  = J −1   v 
  =  J        
   
   
 n   n 
Jacobian Matrix If J is singular
Transformation/Mapping ➔ it is not invertible
➔ Singular point/configuration
(Important issue in robot design When θ = 0/180 ➔
2
that should be avoided) singular configuration

The Jacobian is important to determine the torque in the joints needed to be

applied to give a specific contact force at the End-Effector (Static problem)

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 Notations

1. Differentiation of a position vector (Linear Velocity)

𝐵 𝐵
𝐵𝑉 =
𝑑 𝐵 𝑄 = lim
𝑄 𝑡 + ∆𝑡 − 𝑄(𝑡)
𝑄
𝑑𝑡 ∆𝑡→0 ∆𝑡
𝐵𝑉 ≡ the velocity of a position vector
𝑄
≡ Linear velocity of a point in space represented by the position vector.
Derivative is made relative to frame {B} (Frame of Differentiation)
Also the velocity vector is expressed in the same frame {B}
To express the velocity in any other frame {A}
𝐴𝑑
𝐴 𝐵𝑉 = 𝐵𝑄 = 𝐴𝑅 𝐵𝑉
𝑄 𝐵 𝑄
𝑑𝑡
𝐴 𝐵𝑉 ≡ The velocity of point (position vector Q) relative the frame {B} expressed in frame {A}.
𝑄
(draw frames for explanations)

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 Notations

• Differentiation of a position vector (Linear Velocity)

✓ Often used the velocity of the origin of a frame {C} (for example) relative to the
universe frame {U}.
✓ 𝑣Ԧ𝑐 = 𝑢 𝑉𝑂𝐶 OC is origin of frame {C}
✓ Remember that in 𝑢 𝑉𝑂𝐶 the differentiation is made relative to {U} and
expressed in {U}
✓ 𝐴 𝑣Ԧ𝐶 as v is small-letter the differentiation is made relative/ respect to {U}, but
the velocity is expressed in {A}.
• Example:

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 Notations

1. Example 5.1:

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 Notations

1. The Angular Velocity Vector

Ω is angular velocity vector of a body ( 𝐴 𝑣Ԧ𝐶 is for a point)
As a frame represents the orientation
of the body ≡ rotational velocity of the frame.
𝐴 Ω is rotational velocity of frame {B} relative
𝐵
to frame {A}:
- it’s direction represents the instantaneous
axis of rotation of {B} relative to {A}
- it’s magnitude represents the speed of rotation.
𝐶 𝐴
Ω𝐵 the angular velocity of {B} relative to {A} expressed in {C}
𝑈
In the universe frame {U} Ω𝐶 = 𝑤𝑐

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 Linear and rotational velocities of rigid
bodies

1. Linear velocity: (Translation only)

𝐴𝑄 𝐴𝑃 𝐴 𝐵
= 𝐴,𝐵 + 𝐵𝑅 𝑄
Translation only ➔ the orientation of {B} relative to {A} is not changing
𝐴𝑉 = 𝐴 𝑉 𝐴 𝐵
𝑄 𝑂𝐵 + 𝐵 𝑅 𝑉𝑄

B
Q
A
Q

A
PA,B

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 Linear and rotational velocities of rigid
bodies

2. Rotational velocity: (Rotation only)

Two frames {A} and {B} have the same origin for all the time only the relative
orientation is changing in time ➔ 𝐴 Ω𝐵
𝐵 𝑄 is fixed in {B} ➔ 𝐵 𝑉 = 0
𝑄

What is the velocity of point Q in {A} 𝐴𝑉 ?

𝑄
A
VQ = A  B  AQ
= A B  ( A
B R BQ )
( ) (V)
If 𝐵𝑄 is changing in {B} A
A
VQ =  B A A
B R Q +
B B
Q

= A B ( A
B RB Q) + R V
A
B
B
Q

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 Linear and rotational velocities of rigid
bodies

3. Linear and rotational velocity at the same time

𝐴
The same as point 2, however frame {B} is moving relative to frame {A}, i.e. 𝑉𝑂𝐵
A
VQ = AVOB + A  B  ( A
B )
R BQ + BA R BVQ

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 Motion of the links of a robot (notations)

𝑖𝑣
≡ linear velocity of the origin of frame {i} relative to the reference frame {O} (fixed),
Ԧ𝑖
expressed in {i}
𝑖𝑤 ≡ angular velocity of frame {i} relative to the reference frame {O} (fixed), expressed
𝑖
in {i}

i
vi

Oi i
i

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 Velocity propagation from link to link
Starting from the base the velocity of any link
(i+1) equal to the previous link (i) + the relative
Velocity between (i+1) and (i)
• Angular velocity propagation
𝑖𝑤 𝑖 𝑖
𝑖+1 = 𝑤𝑖 + Ω𝑖+1
𝑖Ω 𝑖 𝑖+1
𝑖+1 = 𝑖+1𝑅 𝑧Ԧ𝑖+1 𝜃ሶ𝑖+1
𝑖𝑤 𝑖
𝑖+1 = 𝑤𝑖 + 𝑖+1𝑅
𝑖 𝑖+1
𝑧Ԧ𝑖+1 𝜃ሶ𝑖+1 i
i +1
i +1
vi
𝑖+1 𝑤
𝑖+1 =
𝑖+1 𝑖
𝑖 𝑅 𝑤𝑖 +
𝑖+1 𝑧Ԧ ሶ
𝑖+1 𝜃𝑖+1
Where 𝑖+1 𝑧Ԧ𝑖+1 = 0,0,1 𝑇

i
i

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 Velocity propagation from link to link

• Linear velocity propagation

𝐴 𝐵
𝐴𝑉
𝑄 = 𝐴 𝑉OB + 𝐴 Ω𝐵 × 𝐵𝑅 𝑄 + 𝐵𝐴𝑅𝐵 𝑉𝑄
A ≡ 0; Q ≡ 𝑃𝑖+1 ; B ≡ i;
0𝑉 0 𝑖
𝑖+1 = 0 𝑉𝑖 + 0 Ω𝑖 × 𝑖 𝑅 𝑃𝑖+1
0 𝑖
𝑣Ԧ𝑖+1 = 𝑣Ԧ𝑖 + 𝑤i × 𝑖 𝑅 𝑃𝑖+1
𝑖
𝑣Ԧ𝑖+1 = 𝑖 𝑣Ԧ𝑖 + 𝑖 𝑤i × 𝑖 𝑃𝑖+1 i
i +1
i +1
vi
𝑖+1
𝑣Ԧ𝑖+1 = 𝑖+1𝑖𝑅 𝑖 𝑣Ԧ𝑖 + 𝑖 𝑤i × 𝑖 𝑃𝑖+1

i
i

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 Velocity propagation from link to link

Prismatic joint
𝑖
𝑤𝑖+1 = 𝑖 𝑤𝑖
𝑖+1 𝑖+1 𝑖
𝑤𝑖+1 = 𝑖 𝑅 𝑤𝑖
𝐴 𝐵
𝐴
𝑉𝑄 = 𝐴 𝑉OB + 𝐴 Ω𝐵 × 𝐵𝑅 𝑄 + 𝐵𝐴𝑅𝐵 𝑉𝑄
A ≡ 0; Q ≡ 𝑃𝑖+1 ; B ≡ i;
0𝑉 0 𝑖
𝑖+1 = 0 𝑉𝑖 + 0 Ω𝑖 × 𝑖 𝑅 𝑃𝑖+1
𝑣Ԧ𝑖+1 = 𝑣Ԧ𝑖 + 𝑤i × 0 𝑖 0 𝑖+1
𝑖 𝑅 𝑃𝑖+1 + 𝑖+1𝑅 𝑧Ԧ𝑖+1 𝑑ሶ 𝑖+1
𝑖𝑣Ԧ𝑖+1 = 𝑖 𝑣Ԧ𝑖 + 𝑖 𝑤i × 𝑖 𝑃𝑖+1 + 𝑖+1𝑖𝑅 𝑖+1 𝑧Ԧ𝑖+1 𝑑ሶ 𝑖+1
Ԧ𝑖+1 = 𝑖+1𝑖𝑅 𝑖 𝑣Ԧ𝑖 + 𝑖 𝑤i × 𝑖 𝑃𝑖+1 + 0 0 𝑑ሶ 𝑖+1 𝑇
𝑖+1 𝑣

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 Example

1. A two-link manipulator with rotational joints is shown in Fig. 5.8. Calculate the velocity of
the tip of the arm as a function of joint rates. Give the answer in two forms—in terms of
frame {3} and also in terms of frame {O}.

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 Example

1. The transformation matrices:

𝑐1 −𝑠1 0 0
0 𝑠1 𝑐1 0 0
1 𝑇 =
0 0 1 0
0 0 0 1
𝑐2 −𝑠2 0 𝑙1
1 𝑠2 𝑐2 0 0
2𝑇 = 0 0 1 0
0 0 0 1
1 0 0 𝑙2
2 0 1 0 0
3 𝑇 =
0 0 1 0
0 0 0 1

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 Example

1. Velocities:
0 0
1𝑤 = 0 1𝑣 =
1 1 0
𝜃ሶ1 0
0 𝑐2 𝑠2 0 0 𝑙1 𝑠2 𝜃ሶ1
2𝑤 = 2𝑣 =
2 0 2 −𝑠2 𝑐2 0 𝑙1 𝜃ሶ1 = 𝑙1 𝑐2 𝜃ሶ1
𝜃ሶ1 + 𝜃ሶ2 0 0 1 0 0
𝑙1 𝑠2 𝜃ሶ1
3
𝑤3 = 2 𝑤2 3
𝑣3 = 𝑙1 𝑐2 𝜃ሶ1 + 𝑙2 𝜃ሶ1 + 𝜃ሶ 2
0

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 Example

1. Rotation matrix
𝑐12 −𝑠12 0
0 0 1 2
3 𝑅 = 1 𝑅 2 𝑅 3 𝑅 = 𝑠12 𝑐12 0
0 0 1
The velocity:
−𝑙1 𝑠1 𝜃ሶ1 − 𝑙2 𝑠12 𝜃ሶ1 + 𝜃ሶ 2
0𝑣 = 0𝑅 3𝑣 =
3 3 3 −𝑙1 𝑐1 𝜃ሶ1 − 𝑙2 𝑐12 𝜃ሶ1 + 𝜃ሶ 2
0

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 Jacobians

If we have the function:

𝑦1 = 𝑓1 𝑥1 , 𝑥2 , … , 𝑥6
𝑦2 = 𝑓2 𝑥1 , 𝑥2 , … , 𝑥6
⋮
𝑦6 = 𝑓6 𝑥1 , 𝑥2 , … , 𝑥6
Or, in vector form 𝑌 = 𝐹(𝑋) with 𝑌 = 𝑦1 , 𝑦2 , … , 𝑦6 𝑇 , 𝐹 𝑋 = 𝑓1 𝑋 , 𝑓2 𝑋 , … , 𝑓6 𝑋 𝑇, and 𝑋 =
𝑥1 , 𝑥2 , … , 𝑥6 𝑇 .
The differentiation of yi can be considered as follows:
𝛿𝑓1 𝛿𝑓1 𝛿𝑓1
𝛿𝑦1 = 𝛿𝑥 + 𝛿𝑥 + ⋯ + 𝛿𝑥
𝛿𝑥1 1 𝛿𝑥2 2 𝛿𝑥6 6
𝛿𝑓2 𝛿𝑓2 𝛿𝑓2
𝛿𝑦2 = 𝛿𝑥 + 𝛿𝑥 + ⋯ + 𝛿𝑥
𝛿𝑥1 1 𝛿𝑥2 2 𝛿𝑥6 6
⋮
𝛿𝑓6 𝛿𝑓6 𝛿𝑓6
𝛿𝑦6 = 𝛿𝑥 + 𝛿𝑥 + ⋯ + 𝛿𝑥
𝛿𝑥1 1 𝛿𝑥2 2 𝛿𝑥6 6

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 Jacobians

𝛿𝐹
Or, simply, in matrix form 𝛿𝑌 = 𝛿𝑋
𝛿𝑋
𝛿𝐹
Remark: for nonlinear functions f1, f2, …, fn of X the partial derivative is also a function of X
𝛿𝑋
𝜕𝐹
𝐽 𝑋 =
𝜕𝑋
𝑑𝑌 = 𝐽 𝑋 𝑑𝑋
𝑑𝑌 𝑑𝑋
=𝐽 𝑋
𝑑𝑡 𝑑𝑡
𝑌ሶ = 𝐽 𝑋 𝑋ሶ
➔ Jacobian maps/transform velocities from X to Y
As X=X(t) (time dependent) ➔J=J(X) is also time dependent.

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 Jacobians

In robotics, the Jacobian relates the Cartesian velocities with joint velocities
0
𝑣 = 0 𝐽 Θ Θሶ
Θ ≡ vector of joint angles
Θሶ ≡ vector of joint velocities
General Case:
0𝜐
6×1 =
0𝐽(𝛩) 𝛩ሶ
6×6 6×1
0𝑣
Ԧ
0𝜐
6×1 = 0
𝜔
𝐽11 𝐽12 ⋯ 𝐽1𝑛
0𝐽 𝛩 = 𝐽21 𝐽22 ⋯ 𝐽2𝑛
⋮ ⋮ ⋱ ⋮
𝐽𝑚1 𝐽𝑚2 ⋯ 𝐽𝑚𝑛

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Example: 3DOF Manipulator

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 Singularities

1. Given 0𝜐, find 𝛩ሶ

𝛩ሶ = 0𝐽 −1 𝛩 0𝜐
0𝐽 is invertible if det 0𝐽 𝛩 ≠0
For some values of Θ, 0𝐽 could be non-invertible
➔ singularities of the robot
Singularity:
Boundary singularity:
Interior singularity

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 Singularities

Boundary singularity:
All robots have singularities at the boundary or their workspace.

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 Singularities

Interior singularity
Inside the workspace, away from the WS boundary.
Generally, are caused by a lining up of two or more joint axes.

When a manipulator is in a singular

configuration, it has lost one or more
degrees of freedom!

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 Singularities

Example: Find an example about the singularities in robot

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 STATIC FORCES IN MANIPULATORS

Discuss the concept of force and moment propagation

Starting from the last link to the base Force (equilibrium)
Use the notation:
𝑖Ԧ
f𝑖 ≡ force exerted on link i by link i-1
𝑖+1 Ԧf = −𝑖 Ԧf
𝑖 𝑖+1 regardless to the frame of notation
all vectors must be expressed in the same frame.
σ 𝐹Ԧ = 0
➔ 𝑖 Ԧf𝑖 − 𝑖 Ԧf𝑖+1 = 0 ➔ 𝑖Ԧ
f𝑖 = 𝑖 Ԧf𝑖+1
Different notation
is used here

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 STATIC FORCES IN MANIPULATORS

Moment equation (equilibrium)

Use the notation:
𝑖 n ≡ Moment exerted on link i by link i-1
𝑖
𝑖+1
n𝑖 = −𝑖 n𝑖+1
σ 𝑀𝑂𝑖 = 0
➔ 𝑖 n𝑖 −𝑖 n𝑖+1 −1 P𝑖+1 ×𝑖 Ԧf𝑖+1 = 0
➔ 𝑖 n𝑖 = 𝑖 n𝑖+1 +𝑖 P𝑖+1 × 𝑖 Ԧf 𝑖+1

Different notation
is used here

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 STATIC FORCES IN MANIPULATORS

The important result for static force “propagation” from link to link
𝑖
𝑓𝑖 = 𝑖+1𝑖𝑅 𝑖+1 𝑓𝑖+1
𝑖𝑛 = 𝑖 𝑖+1
𝑖 𝑖+1𝑅 𝑛𝑖+1 +𝑖 𝑃𝑖+1 ×𝑖 𝑓𝑖
The joint torque required to maintain the static equilibrium, the dot product of the joint-axis vector with
the moment vector acting on the link is computed:
𝜏𝑖 = 𝑖 𝑛𝑖𝑇 𝑖 𝑧Ƹ𝑖
In the case that joint i is prismatic, we compute the joint actuator force as:
𝜏𝑖 = 𝑖 𝑓𝑖𝑇 𝑖 𝑧Ƹ𝑖

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 EXAMPLE 5.7

Starting from the last link and going toward the base of
robot:
𝑓𝑥 𝑓𝑥 0
2
𝑓2 =3 𝐹 = 𝑓𝑦 , 2 𝑛2 = 𝑙2 𝑥ො2 × 𝑓𝑦 = 0
0 0 𝑙2 𝑓𝑦

𝑐2 −𝑠2 0 𝑓𝑥 𝑐2 𝑓𝑥 − 𝑠2 𝑓𝑦
1
𝑓1 = 12𝑅 2 𝑓2 = 𝑠2 𝑐2 0 𝑓𝑦 = 𝑠2 𝑓𝑥 + 𝑐2 𝑓𝑦
0 0 1 0 0
0
1
𝑛1 = 12𝑅 2 𝑛2 + 𝑙1 𝑥ො1 ×1 𝑓1 = 0
𝑙1 𝑠2 𝑓𝑥 + 𝑙2 + 𝑙1 𝑐2 𝑓𝑦
Therefore:
𝜏1 =1 𝑛1𝑇 1 𝑧Ƹ 1 = 𝑙1 𝑠2 𝑓𝑥 + 𝑙2 + 𝑙1 𝑐2 𝑓𝑦
𝜏2 =2 𝑛2𝑇 2 𝑧2Ƹ
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 JACOBIANS IN THE FORCE DOMAIN

We have
𝐹 𝑇 𝛿𝑋 = 𝜏 𝑇 𝛿Θ
where 𝐹 is a 6 x 1 Cartesian force-moment vector acting at the end-effector, 𝛿𝑋 is a 6 x 1
infinitesimal Cartesian displacement of the end-effector, 𝜏 is a 6 x 1 vector of torques at the joints,
and 𝛿Θ is a 6 x 1 vector of infinitesimal joint displacements.
The definition of the Jacobian is
𝛿𝑋 = 𝐽𝛿Θ
As a result,
𝐹𝑇 𝐽 = 𝜏 𝑇
Otherwise,
𝜏 = 𝐽𝑇 𝐹

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 Cartesian Transformation of Velocities and
Static Forces

The representation of general velocity of a body:

𝑣
𝜐=
𝑤
The representation of general force vectors
𝐹
ℱ=
𝑁
where F is a 3 x 1 force vector and N is a 3 x 1 moment vector.
The two frames involved here are rigidly conntected,
𝐵 𝐵 𝐵 𝐴 𝐴
𝑣𝐵 𝐴𝑅 − 𝐴𝑅 𝑃𝐵𝑂𝑅𝐺 × 𝑣𝐴
𝐵𝑤 = 𝐵 𝐴𝑤
𝐵 0 𝐴𝑅 𝐴

Where the cross product is expressed as follows:

0 −𝑝𝑧 𝑃𝑦
𝑃 ×= 𝑃𝑧 0 −𝑃𝑥
−𝑃𝑦 𝑃𝑥 0

35
 Cartesian Transformation of Velocities and
Static Forces
A velocity transformation, 𝑇𝑣 :
𝐵𝑣
𝐵 = 𝐵𝐴𝑇𝑣 𝐴 𝑣𝐴
The description of velocity in terms of {A} given the quantities in {B}:
𝐴𝑣 𝐴 𝐴𝑃 𝐴 𝐵𝑣
𝐴 𝐵𝑅 𝐵𝑂𝑅𝐺 × 𝐵𝑅 𝐵
𝐴𝑤 = 𝐴 𝐵𝑤
𝐴 0 𝐵𝑅 𝐵
Or
𝐴𝑣
𝐴 =𝐴 𝐵
𝐵𝑇𝑣 𝑣𝐵

General force transformation, 𝑇𝑓 :

𝐴𝐹 𝐴 𝐵𝐹
𝐴 𝐵𝑅 0 𝐵
𝐴𝑁 = 𝐵𝑁
𝐴
𝐴𝑃
𝐵𝑂𝑅𝐺 × 𝐵𝐴𝑅 𝐴
𝐵𝑅 𝐵
Or
𝐴ℱ
𝐴 =𝐴 𝐵
𝐵𝑇𝑓 ℱ𝐵

Velocity and force transformations are similar to Jacobian

𝐴 𝑇 = 𝐴𝑇 𝑇
𝐵 𝑓 𝐵 𝑣

36
Example

37
 Example

The kinematics of a 3-DOF robot is given by

𝑐1 𝑐23 −𝑐1 𝑠23 𝑠1 𝑙1 𝑐1 + 𝑙2 𝑐1 𝑐2
0 𝑠1 𝑐23 −𝑠1 𝑠23 −𝑐1 𝑙1 𝑠1 + 𝑙2 𝑠1 𝑐2
3𝑇 = 𝑠23 𝑐23 0 𝑙2 𝑠2
0 0 0 1
Find 0 𝐽 Θ .

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