Robotics

Presenter: Gamal Abdelnasser

Dr. Omar Salah Eldin Mahmoud

1 5/10/2024
 Outline
➢ Velocity Kinematics

2 5/10/2024
 Kinematic relations

1  X=FK(θ) x 
   y
 2  
 3  z 
 =  X = 
 4   
 5   
  θ =IK(X)  
 6   
Task Space
Joint 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(θ)

1  X = J ( )  x 
   y 
 2   
3   z 
   
 4   x 
   y 
 5   = J ( ) X
−1  
6   z 
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)

x   q1   h1 (q1 , q2 , , q6 ) 
 y q  h (q , q ,  , q )
   2  2 1 2 6 

z   q3   h3 (q1 , q2 , , q6 ) 
X =   = h(   ) 6=1 h (q , q , , q )
   q4   4 1 2 6 

   q5   h5 (q1 , q2 , , q6 ) 
     
  q6  h6 (q1 , q2 , , q6 )  61
 Jacobian Matrix
Forward kinematics

X 61 = h(qn1 )

 d dh(q) dq dh(q)
X 61 = h(qn1 ) = = q
dt dq dt dq
 x 
 y   q1 
  q 
 z   dh(q)   2  X 61 = J 6n q n1
 =  dq    
 x    6n
 y    J=
dh(q)
 
 z 
q n  n1 dq
 Jacobian Matrix
 x 
 y 
   q1 
 z   dh(q)  q 2 
 =    Jacobian is a function of

 x   dq  6n   
q, it is not a constant!
 y   
 q n  n1
 
 z   h1 h1 h1 
 q 
q2 qn 
 1 
 dh(q)   h2 h2

h2 
J =   =  q1 q2 qn 
 dq  6n      
 h h6 h6 
 6  
 q1 q2 qn  6n
 Jacobian Matrix
 x 
 y  Linear velocity Angular velocity
   q1 
 z  V   x    x =   q 
q n1 =  2 

X = =   
 x   V =  y  
 =  y =   
 y   
 z   z =  
    q n  n1
 z 

The Jacbian Equation

X = J 6n qn1
 Example
• 2-DOF planar robot arm (x , y)
– Given l1, l2 , Find: Jacobian
2
 x  l1 cos1 + l2 cos(1 +  2 )  h1 (1 , 2 )  l2
 y  =  l sin  + l sin( +  )  = h ( , )
  1 1 2 1 2   2 1 2 

  x  1 
Y =   = J  1 l1

 y   2 

 h1 h1 
   2  − l1 sin 1 − l2 sin(1 +  2 ) − l2 sin(1 +  2 )
J = 1 =
 h2 h2   l1 cos 1 + l2 cos(1 +  2 ) l2 cos(1 +  2 ) 
 1  2 
 Jacobian Matrix
 ax  bx 
• If A =  a y  , B = by 
 az   bz 

• Then the cross product

i j k  a y bz − az by 
 
A  B = ax ay az =  −(axbz − az bx ) 
bx by bz  axby − a y bx 
 Remember DH parmeter
ci -c isi s isi a i ci 
 s ci c i -s i ci a isi 
Ai =  i
 0 s i c i di 
 
 0 0 0 1 

• The transformation matrix T

T0i = A1 A2 .....Ai
 Jacobian Matrix
J = J1 J 2 .... J n 
 Jacobian Matrix
2-DOF planar robot arm
Given l1, l2 , Find: Jacobian

• Here, n=2,
(x , y)

2
l2

1 l1
 ci -c isi s isi a i ci 
 s ci c i -s i ci a isi 
Ai =  i
 0 s i c i di 
 
 0 0 0 1 

Where (θ1 + θ2 ) denoted by θ12 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 ) 
14
0   0   0 
 Jacobian Matrix
2-DOF planar robot arm
Given l1, l2 , Find: Jacobian

• Here, n=2

(x , y)

2
l2
 z0  (o2 − o0 )   z1  (o2 − o1 ) 
J1 =   , J2 =  
 z 0   z1 
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 ) 
 0 
 Jacobian Matrix
 z1  (o2 − o1 ) 
J2 =  
 z1 
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 ) 
 0 
 Jacobian Matrix
 −a1 sin 1 − a2 sin(1 +  2 ) 
 a cos  + a cos( +  )   −a2 sin(1 +  2 ) 
 1 1 2 1 2   a cos( +  ) 
 0   2 1 2 

J1 =    0 
 0  J2 =  
 0 
 0 
   0 
 1   
 1 

The required Jacobian matrix J

J =  J1 J2 
 Velocity Kinematics
Example: Three-link planar manipulator

i ai i di i
1 l1 0 0 1*
2 l2 0 0 2*
3 l3 0 0 3*

c1 − s1 0 l1c1 
s c1 0 l1 s1 
T1 =  1
0
0 0 1 0. 
 
0 0 0 1 

c12 − s12 0 l1c1 + l 2 c12 

s c12 0 l1 s1 + l 2 s12 
T20 =  12
0 0 1 0. 
 
0 0 0 1 

c123 − s123 0 l1c1 + l 2 c12 + l3 c123 

s c123 0 l1 s1 + l 2 s12 + l3 s123 
T3 =  123
0
 0 0 1 0. 
 
 0 0 0 1 

5/10/2024 19
 Velocity Kinematics
Example: Three-link planar manipulator
 0 l1c1 + l 2 c12 + l3 c123   − (l1 s1 + l 2 s12 + l3 s123 )
     
 0  l1 s1 + l 2 s12 + l3 s123    (l1c1 + l 2 c12 + l3 c123 ) 
 z  (o3 − o0 )  1  0    0 
J1 =  0  = = 
 z0   0   
0
0  
   0 
    
1 
   1 

 0 l 2 c12 + l3 c123   − (l 2 s12 + l3 s123 ) − (l1 s1 + l 2 s12 + l3 s123 ) − (l 2 s12 + l3 s123 ) − (l3 s123 )
      l c +l c +l c

 0  l 2 s12 + l3 s123    (l 2 c12 + l3 c123 )   1 1 2 12 3 123 l 2 c12 + l3 c123 l3 c123 
 z  (o3 − o1 )  1  0    0   0 0 0 
J2 =  1  = =  J= 
 z1   0   
0
 0 0 0 
0  
   0   0 
     
0 0

1 
   1   1 1 1 

 0 l3 c123   − l3 s123 

     
 0  l3 s123    l3 c123 
 z  (o3 − o2 )  1  0    0 
J3 =  2 = = 0 
 z2   0   
0  
   0 
    
1 
   1 

5/10/2024 20
 Velocity Kinematics
Example 2
i ai i di i
1 0 0 d1 1*
2 0 90 d2* 0
3 0 0 d3* 0

c1 − s1 0 0
s c1 0 0 
T1 =  1
0
0 0 1 d1 
 
0 0 0 1

c1 0 s1 0 
s 0 − c1 0 
T2 =  1
0
0 1 0 d1 + d 2 
 
0 0 0 1 

c1 0 s1 s1 d 3 
s 0 − c1 − c1 d 3 
T3 =  1
0
0 1 0 d1 + d 2 
 
0 0 0 1 

5/10/2024 21
 Velocity Kinematics
Example2
 0  s1 d 3   c1 d 3 
     
 0   − c1 d 3    s1 d 3 
 z  (o3 − o0 )  1 d 1 + d 2    0 
J1 =  0 = = 0 
 z0   0   
0  
   0 
    
1 
   1 

c1 d 3 0 s1 
 0   0 
     s d 0 − c1 
 0   0   1 3
 z   1  1  0 1 0 
J 2 =  1  =    =   J=
 0   0   0  0 0 0 
 0   0   
      0 0 0 
 0  0  1
 0 0 
  s1    s1 
   
 − c1   − c1 
 z    0    0 
J 3 =  2  =  = 
 0   0    0 
 0    0 
     
 0   0 

5/10/2024 22
 Velocity Kinematics
Example 3
i ai i di i
1 0 90 d1 1*
2 0 0 d2* 0
3 0 0 d3 3*
c1 0 s1 0 c1 0 s1 s1d 2 
s s − c1d 2 
0 − c1 0  0 − c1
T1 =  1
0 T2 =  1
0

0 1 0 d1. 0 1 0 d1. 
   
0 0 0 1 0 0 0 1 

c1c3 − c1 s3 s1 s1 (d 2 + d 3 ) 
 s c − s s − c − c (d + d )
T3 =  1 3
0 1 3 1 1 2 3 

 s3 c3 0 d1 . 
 
 0 0 0 1 
5/10/2024 23
 Velocity Kinematics
Example 3
 0  s1 (d 2 + d 3 )   c1 (d 2 + d 3 )
     
 0  − c1 (d 2 + d 3 )   s1 (d 2 + d 3 )
 z  (o3 − o0 )  1  d1    0 
J1 =  0  = = 
 z0   0   
0
0  
   0 
    
1 
   1 

  s1    s1 
 c1 (d 2 + d 3 ) s1 0 
    s (d + d ) − c
 − c1   − c1 
1 2 3 1 0 
 z    0    0 
J 2 =  1  =  = 

J=
0 0 0 
 0   0    0  0 0 s1 
 0    0   
 − c1 
    
0 0
 
 0   0   1 0 0 

  s1   s1 (d 3 )    0 
     
 − c1   − c1 (d 3 )   0 
 z  (o3 − o2 )   0   0    0 
J3 =  2 = = s 
 z2    s1    1 
 − c   − c1 
  1   
  0    0 

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 Singularities
• The inverse of the jacobian matrix cannot be
calculated when
det [J(θ)] = 0

• Singular points are such values of θ that cause

the determinant of the Jacobian to be zero
 Jacobian Matrix
• Inverse Jacobian
q5
 J11 J12  J16   q 
1

J  
q 
J 22  J 26  q 
2

X = Jq =  21  
3

      q 4

  q 5

 J 61 J 62  J 66  q 
6

q1
q = J X
−1

• 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
 Velocity Kinematics
Two-link planar manipulator
• Calculate J for the following manipulator:
– Two joint angles, thus J is 6x2

z00  (o2 − o0 ) z10  (o2 − o1 )

J (q ) =  0 0 
 z0 z1 

– Where:
0 a1c1  a1c1 + a2c12  0
o0 = 0, o1 = a1s1 , o2 = a1s1 + a2s12  z00 = z10 = 0
0  0   0  1

− a1s1 − a2s12 − a2s12 

 ac +a c a2c12 
 1 1 2 12

 0 0 
J (q ) =  
 0 0 
 0 0 
 
 1 1 
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 Velocity Kinematics
Singularities of Two-link planar
manipulator
• How do we determine singularities?
– Simple: construct the Jacobian and observe when it will lose rank
• EX: two link manipulator
– Previously, we found J to be:
(x , y)
− l1s1 − a2 s12 − l2 s12 
 l c +l c l2 c12 
 1 1 2 12

J (q ) = 
0 0 

2
 0 0 
 0 0 
l2
 
 1 1 

1 l1

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 Velocity Kinematics
Singularities of Two-link planar manipulator

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 Force/torque relationships
Force/torque relationships

• Similar to the relationship between the joint velocities and the end effector
velocities, we are interested in expressing the relationship between the joint
torques and the forces and moments at the end effector
– Important for dynamics, force control, etc
• Let the vector of forces and moments at the end effector be represented as:


F = Fx Fy Fz nx ny nz 
T

• Then we can express the joint torques, , as:

 = J T (q )F

• We will derive this using the principal of virtual work when we discuss the
dynamics of manipulators

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 Force/torque relationships
Force/torque relationships

• Example: for a force F applied to the end of a planar two-link manipulator,

what are the resulting joint torques?
– First, remember that the Jacobian is:

− a1s1 − a2s12 − a2s12 

 ac +a c a2c12 
 1 1 2 12

 0 0 
J (q ) =  
 0 0 
 0 0 
 
 1 1 

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 Force/torque relationships
Force/torque relationships

• Example: for a force F applied to the end of a planar two-link manipulator,

what are the resulting joint torques?
– Thus the joint torques are:
Fx 
F 
 y
− a1s1 − a2s12 a1c1 + a2c12 0 0 0 1  Fz 
 =  
 − a2s12 a2c12 0 0 0 1 n x 
n y 
 
 nz 
Fx (− a1s1 − a2s12 ) + Fy (a1c1 + a2c12 )
= 
 F x (− a2 s12 ) + Fy (a2 c12 ) 

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 Force/torque relationships
Example

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Any questions or
suggestions?!
Quiz 2
Find the forward kinematic solution

ci -c isi s isi a i ci 

 s ci c i -s i ci a isi 
Ai =  i
 0 s i c i di 
 
 0 0 0 1 

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