25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering

ROBOTICS
THEORY OF APPLIED
ROBOTICS
KINEMATICS, DYNAMICS,
AND CONTROL

3. ROBOT JACOBIAN

Lecture notes
Ha Le Nhu Ngoc Thanh, Ph.D.
Faculty of Mechanical Engineering
HCMC University of Tech. & Education

Ha Le Nhu Ngoc Thanh, Ph.D. 2 Lecture notes: Introduction to Robotics

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

CHAPTER 3: ROBOT JACOBIAN CHAPTER 3: ROBOT JACOBIAN

Jacobian matrix Jacobian matrix concept
Let :

  : joint's coordinate vector

T
dx i
x   m , x  x1, x 2 , , x m dx 2

q   , q  q , q , , q  : joint's variable vector q  primatic or rotation 

T
n xi
1 2 n x2
dx 1
dx   , dx  dx , dx , , dx  : small joint's displacement
T
m x , y, z 
1 2 m x1   i
dx
dq   , dq  dq , dq , , dq  : small joint's rotational angle
T  
n
dq1 x , y, z 1
1 2 n

x 
d
  The goal in this section is to establish the relationship
between dx and dq
 x   f (q) 
 velocity relationship : x and q is described  1   1 
 x   f (q ) 
by a Jacobian matrix  
x  f (q)   2    2 
 The Jacobian matrix is key to the relationship between      
joint torques and end-effector forces x   f (q )
 m   m 

Ha Le Nhu Ngoc Thanh, Ph.D. 3 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 4 Lecture notes: Introduction to Robotics
 25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

CHAPTER 3: ROBOT JACOBIAN CHAPTER 3: ROBOT JACOBIAN

Jacobian matrix Jacobian matrix
f1 f1 Example 1:
dx 1  dq1    dqn x  l1c1  l2c12
 x   f (q)  q1 q n y  l1s1  l2s12
 1   1  f2 f2
 x   f (q)  dx 2  dq    dq x , y 
  dx  l1s1d 1  l2s12 d 1  d 2 
  2    2   x  f (q)  q1 1 qn n 
   dy  l1c1d 1  l2c12 d 1  d 2 
       l2
x m   fm (q) dx   l1s1  l 2s12 d 1  l2s12d 2
f f l1 
dx m  m dq1    m dqn dy  l1c1  l2c12 d 1  l2c12d 2
q1 qn dx   l s  l s  l s d  
 f   2 12  
f1       1 1 2 12   (1)
1
 1  l2c12 d 2 
  dy   l1c1  l2c12
 q1 qn  
  f J ( )
 dx      dq  x m1  J(q)mn q n1 , where J(q)  dx  d  
  q  
 let dx   , d    1   (1)
 dx  J ()d   x  J ()
 fm  fm  dy  d 2 

 q1 qn 

J(q ): Jacobian
v  J(q)q

Ha Le Nhu Ngoc Thanh, Ph.D. 5 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 6 Lecture notes: Introduction to Robotics

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

CHAPTER 3: ROBOT JACOBIAN CHAPTER 3: ROBOT JACOBIAN

Jacobian matrix for end-effector Jacobian matrix for end-effector
Geometric Jacobian Geometric Jacobian
Consider an n-DOF manipulator.
The relationship between the joints and end-effector
velocity Linear velocity
Orientation Position p e : end-effector's linear velocity
v
 v  v

   q
𝑣 , 𝑣 , 𝑣
 E e : end-effector's angular velocity
 Angular rate 𝜔 , 𝜔 , 𝜔 qe : joint's velocity
y0 v,  : linear velocity and angular orientation of end-effector y0 p  J P (q )q
q : joint varibles  e
1 2 1 2 e  JO (q )q
The relationship between the force applied on the
x0 x0  p 
environment by the manipulator and the corresponding ve   e   J (q )q
joint torques   e  Derivative 𝒑 (𝒒)
f   
J P   3n is matrix relating the contribution of the 6n
J (q )
n joint velocity q to the end-effector's linear velocity p e
J (q )   
 
   : Geometric Jacobian
P
JO   3n is matrix relating the contribution of the
JO (q )
joint velocity q to the end-effector's angular velocity e
where f, n : force and force's orientation applied on end-effector
 : torque of joint varibles Based on 𝑹 (𝒒)

Ha Le Nhu Ngoc Thanh, Ph.D. 7 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 8 Lecture notes: Introduction to Robotics
 25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

Math Review Jacobian matrix for end-effector

Math review : example : Geometric expression of the Jacobian
a  b   0 az ay b1  cos   sin  0  
 x   1     x 
a  b  ay   b2    a   b   az
 
ax  b2  
      
0
  Rz (t )   sin  cos  0, Find (t )?  y 
 
 
q1 
az  b3  ay ax 0 b3       
1  
 v   J q q   z   J q q2 , where v  x y z
 0 0
       
T T
Euclidean norm : a  aT a  a12    an2       ,   x y z
 x      0 pe is the end-effector position, 0 pn
 T 2
a a  a (scalar )
    
  y  qn  first three element of the last column 
if   (t )   
Absolute vector : a  a1  an    
 z  of matrix 0 T = 0 T (q ).1 T (q ) n1 T (q )
 S (t )  R z (t ) RzT (t )  n 1 1 2 2 n n  
J J v 2  J vn 

Derivative of a rotation matrix w.r.t time:  sin   cos  0 cos  sin  0
  where J q    v1   0 pi 1 is the position of coordinate Fi 1
  J 1 J  2  J n  first three element of the last column 
Consider : R  R(t )    cos   sin  0 sin  cos  0  
R(t )RT (t )  I    where of matrix 0 T = 0 T (q ). 1 T (q )  i2 T (q )
 0 0 0 0 0 1  i 1 
 
n 1 1 1 2 2 i1
 0
 Derivative : R (t )RT (t )  R(t )R T (t )  O (1) 0  0  zi 1  pe  pi 1
0
 0 zi1 is the third column of 0 Ri 1
  for Revolute joint
Let S (t )  R (t )RT (t )  R (t )  S (t )R(t )  J   
  0 0  S (t )
0
z  R i 1  01 R(q1 ). 21 R(q 2 ) ii21 R(qi 1 )z 0
0
J   vi    i 1
  J i   0 i 
  S (t )  S T (t )  O thus, S (t )   33 is skew  symmetric,  zi 1   
(1)
0 0 0
T
 z = 0 0 1 , 0 R  diag(1,1,1)
  for Prismatic joint 
 S (t )  S (t ) where (t )  x    i
T 0
y z 0  0  
  0 z = 0 R.0 z  0 0 1  
T
  
  0 0 
 0 y   (t )  0
0
 z i  1, n
  
 S (t ) =  z 0 x   Thus,
 
y x 0  v  J v 1q1  J v 2q2    J vnqn
  J 1q1  J 2q2    J nqn

Ha Le Nhu Ngoc Thanh, Ph.D. 9 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 10 Lecture notes: Introduction to Robotics

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

2DOFs planar Frame No. ai i di i

0
 
l c 
 1 1 
l c  l c 
 1 1 2 12 
3DOFs planar J
J   v 1
J v 2 J v 3  z0  pe  p0  z1  pe  p1  z2  pe  p2 

 


where p0 = 00 p = 0, p1 = 01 p  l1s1 , p2 = 20 p  l1s1  l2s12  J  1 J  2 J  3   z0 z1 z2 
0 1 l1 0 0 1       J1 J2 J3
0  0   0 
 12 l2 0 0 2 0  
l1c1 

l1c1  l2c12 
 
l1c1  l2c12  l3c123 

v  
0
 
0
 
  
where p0 = 00 p = 0, p1 = 01 p  l1s1 , p2 = 02 p  l1s1  l2s12 , pe = e0 p  l1s1  l2s12  l 3s123 

z1 p1  
z0 = 0, z1 = 01 R(q1 )z0  01T(q1 )  0 0  0   0   0 
l2 c  s  0 l1c 1  z1  0 z 1 1   1        
 1 1    3rd column of 01 R 3rd column of 01T   0 0 0
s  p1  0 p1      
c1 0 l1s 1  0 1 0l c  l c  l s  l s 
  1 1 2 12   1 1 2 12  z0 = 0, z1 = 01 R(q1 )z0  0, z2 = 01 R(q1 )21 R(q1 )z0  0,
y1
y0 0
T   1 
 z0  p2  p0   1 0 0l1s1  l2s12    l1c1  l2c12  link ai i di i 1      
l1 1
 0 0 1 0    1 1
      01 1
3rd column of 01 R 3rd column of 02 R

1
a1 0 0
  0
 0 0 1  0 0 0 0   0  0 1 0l c  l c  l c  l s  l s  l s 
  1 1 2 12 
x1 J 2 2 12 2 3 123 
     a2 0 0   1 1 2 12 3 123 
0 1 0l2c12  l2s12   J1  z0  pe  p0   1 0 0l1s1  l2s12  l 3s123    l1c1  l2c12  l3c123 
c  s  0 l2c2       23 a3 0 0 3 0 0 0   
x0  2 2   z1  p2  p1   1 0 0l 2s12    l2c12    0   0 
J1 s  c 2 0 l2s 2  0 0 0 0   0  find J 0 1 0l c  l c  l s  l s 
T   2
1         2 12 3 123   2 12 3 123 

2
 0 0 1 0  l s  l s l2s12   x  l s  l s l2s12   J2  z1  pe  p1   1 0 0l2s12  l 3s123    l2c12  l3c123 
 
  1 1 2 12     1 1 2 12      
 0 0 0 1   l1c1  l2c12 l2c12   y   l1c1  l2c12 l2c12  0 0 0 0   0 
      z1 p1     
p2  0 0   z   0 0 1  0 1 0l3c123  l3s123 
J ,            
 0 0  x   0 0 2   J 3  z2   pe  p2   1 0 0l3s123    l3c123 
     
c     s     0 l1c1  l2c 1  2  
    c s 0 a1c1     
 1
 1   
p2  0 p2  0 0  y   0 0 
1  0 0 0 0   0 

2 1 2
 0 a1s1 
s   2  c 1  2  0 l1s 1  l2s 1  2        s1 c1
1  1
1  ,  
T  1T . 2T   1  1 1  z   1 T    0
l1s1  l2s12  l3s123 l2s12  l 3s123 l3s123 
0


0 0 1
2
 0 0 1 0       0 1 0   l c  l c  l c l2c12  l3c123 l3c123 

 l1s1  l2s12 l2s12   0 0    0     1 1 2 12 3 123 
        0 0 0z 1  p J   
v =  l1c1  l2c12 l2c12  1 ,  = 0 0 1    0 
0 0 0
 0 0 0 1    
2 2 J   v   
0 
,
 0  2  1 12      c 0 a1c1  a2c12  J    0 0
 0   1 2  12 s12   0 0 0 

J v 2  z0  p2  p0  z1  p2  p1 
      0, only      s c12 0 a1s1  a2s12   
J
   2  1
T    12  1 1 1 
x y z 1 2
J  J1 J2   v 1    l s  l s  l s 
0



J 1 J  2   z0 z1 

if the orientation isnot interest  J   1 1 2 12 2 12 
 
0 0 1 0  l s  l s  l s
 l2s12  l 3s123 l3s123 

l2c12  if the orientation is of no concern  J   1 1 2 12 3 123
 l1c1  l2c12  0 0 0 1   l1c1  l2c12  l3c123 l2c12  l3c123 l3c123 

Ha Le Nhu Ngoc Thanh, Ph.D. 11 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 12 Lecture notes: Introduction to Robotics
 25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

Example of Jacobian Anthropomorphic arm J


J   v1
J v 2 J v 3  z0  pe  p0  z1  pe  p1  z2  pe  p2 
   
Determine linear velocity, angular rate and Jacobian matrix J 1 J 2 J  3   z0 z1 z2 
  0 a c c  c a c  a c 
0
  
  2 1 2
 1 2 2
 3 23 
   
 p0 = 00 p = 0, p1 = 01 p  0, p2 = 02 p  a2s1c2 , pe = 0e p  s1 a 2c2  a 3c23 
       
0 0  a2s2   a2s2  a 3s23 
0  s   s 
x0    1 
 
 1 
 
  z0 = 0, z1 = 01 R(q1 )z0  c1 , z2 = 01 R(q1 ) 21 R(q1 )z0  c1 ,
v  d6  
1

3rd column of 01 R
 
 0 
  
3rd column of 20 R  0 
5 0 1 0c a c  a c  s a c  a c 
v   1 2 2 3 23  
  1 2 2 3 23 
a3 6  
 z0  pe  p0   1 0 0 s1 a2c2  a 3c23    c1 a 2c2  a 3c23  
    


4  a2s2  a 3s23   

link ai i di i 0 0 0 0 
d3 v 0 1 0  2 0 1  0 0 c c a c  a c  c a s  a s 
a2  1  1 2 2

3 23 
 
 1 22
 3 23 

d3 1  2 a2 0 0 2  z1  pe  p1    0 0 s1  s1 a2c2  a 3c23   s1 a 2s2  a 3s23 
d2 d2 2  3 a3 0 0 3   a s  a s  
  a 2c2  a 3c23 

3 c1 s1 0  3 23 
2
2 2

2 2 z1
 0 0 c  a c c  a c s 
 1

 3 1 23   3 1 23 
 
1  z2  pe  p2    0 0 s1  a 3s1c23   a 3s1s23 
1 1 
c1 0 s1 0
 c s    
s 0 c1 0  0   a s   a c 
T (1 )   1
1 1 3 23 3 23
0
 s a c  a c  c a s  a s  a c s 
0 1 0 0

1
  1 2 2 3 23 1 2 2 3 23 3 1 23 
 0 0 0 1  c1 a2c2  a 3c23  s1 a2s2  a 3s23  a 3s1s23 



si 0 aici  J   a2c2  a 3c23 a 3c23 
Spherical arm ci  0
Anthropomorphic arm Standford manipulator s ci

0 aisi 

J  v
J   

0 s1 s1 
,
T (i )   i
i1
, i  1, 2  
0 0 1 0  c1 

i
  0 c1
 0
0 0 1  z  1 0 0



2
s a c  a c  c a s  a s  a c s     s1  1   s1 2  3  
c1c2 s2c1 s1 a2c1c2   1 2 2
 1 
3 1 23  
0 s1
    
3 23 1 2 2 3 23
 
s c
 s1s 2 c1 a 2s1c2  v   c1 a2c2  a 3c23  s1 a2s2  a 3s23  a 3s1s23 2 ;   0 c1 c1 2   c1 2  3 
 2T (1, 2 )   1 2    

0
a2s2      
 2
s c2 0
  0 a2c2  a 3c23 
a3c23 3  1 0 0 3   1 
 0 0 0 1 
 s1y  c1x in this structure, y , x are not independent
Ha Le Nhu Ngoc Thanh, Ph.D. 13 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 14 Lecture notes: Introduction to Robotics

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

Spherical arm J
J   v1
J v 2 J v 3  z0  pe  p 0  z1  pe  p1  z2 
  

 Example: 2-DOF RP Manipulator
J 1 J  2 J  3   z0 z1 0 
0 0 d s  d c s 
     2 1 3 1 2

x2 z2
c  p 0 = 00 p = 0, p1= 01 p  0, pe = e0 p   d2c1  d3s1s2  0 l c  d c  0 c 
0 s1 0
 1  0 0      1 1   2 1     1 

 
d3c2
s 0 c1 0       we have p0 = 00 p = 0, pc = l1s1 , pc = 20 p  d2s1 , z0 = 0 z 0  0, z1  01 R 1 z1  s1 
0
T      1 , 0 s  c s  x1 C2
1 0 0  1 2  0  0   0     
1 2
 0    1
1 1
     1   0 
 0 0 0 1  z 0 = 0 , z1 = 01 R(q1 )z0   c1 , z2 = 01 R(q1 ) 21 R(q1 )z 0  s1s2 , C1      
        
c 1  0   c2 
 2 0 s2 0  3rd column of 01 R 3rd column of 20 R
z1 Jacobian matrix of C1 Jacobian matrix of C2
     
s 0 c2 0  0 1 0 d2s1  d3c1s2  d2c1  d3s1s2 
x0 1
T     2
1 0 d2 
, 
 z0  pe  p0   1 0 0  d2c1  d3s1s2   d2s1  d3c1s2 
  J 

0 z0  pc  p0 0 
 J 
J v 2  z0  pc  p0 z1   

 0  
   
2 2
      Link ai i di i  J1  J1 0   v 1
0      0 J2  J1 J2   v 1    
0 0 
1 2
 0 1  0 0 0 d3c2   0  J 1 0  J 1 J  2  
 0 0
 0
z0 0 1 0  2 0  2  1  z0   z0 
1 0 0 0  0 c1 d2s1  d3c1s2  d3c1c2  12 0 0 d2 0 0 1 0l c  l s  0 1 0   
          1 1   1 1    d2c1  d2s1 
 
 z1  pe  p1    0 
0 1 0 0  0 s1   d2c1  d3s1s2   d3s1c2  z0  pc  p0  1 0 0l1s1    l1c1  z0  pc2  p0   1 0 0 d2s1    d2c1 
2
3
T d 3   
0
,
0 1 d 3 
c s 0  
 1 1  d3c2  
 d3s2 
 s
 1 0 c1 0 s
 1 0 c1 0  0  l1c1 
1    
0 0 0 0   0 
 
0 0 0
   
  0   0 


0 0 0 1  d c  d s s d c c c s   x  d c  d s s d c c c s  c 0 s1 0 c 0 s1 0  0  l1s1 
  2 1    2 1 0
T  1 , p   1        
3 1 2 3 1 2 1 2
  
3 1 2 3 1 2 1 2
 1  0 1 0 0 c1  0 1 0 0 l1   0  l1s1 0 d2s1 c1 
c c s c s d s  d2s1  d3c1s2 d3s1c2 s1s2   y  d2s1  d3c1s2 d3s1c2 s1s2             l c   d c 
 1 2 1 1 2 2 1     
d3s2 c2   z   d3s2 c2   1 
    0

0 0 1

 0

0 0 1  1   1 
     1 1 0 l s 0 0 0  2 1 s1  d s c  0 0
s c c1 s1s2 d2c1   0

     
0
   l c   0 0  1 1     0 0   2 1 1   
0
2
T 1, 2   1s2 0 c 0


J
 0 s1 
0  x     0 s1 0   2 
 1 1 

 pc  l1s1 
0
J1  
 0 0
,  J v1   l1c1 0, J  1  0 0
   
0
J2  
 0 0 
,  J v 2   d2c1 s1 , J  2  0 0
 

 
      d   
 0 0   3  1 0 1 0
2 2
1  0   y      0 0    0 0 
1

link ai i di i var 0 0  0 c1 0 c1  0 
 
1 0
   
0   z   1 0 0 
 1 0 0 0  s 0 c1 d2c1  d c   0 0
  0 0 

01 0  2 0 1 1       1  2 1  1   1
12 0  2 d2 2 2 c1c2 s1 c1s2 d2s1  d3c1s2  d c  d s s d c c c s   0 s 0  s   1
0 1 0 0 
T 
c
  02T   1
0 s1 d2s1  d s 
  pc   2 1 
 0  0 
s c c1 s1s2 d2c1  d 3s1s2   2 1 1 2          0 0 1 d2   0 1 0 0   0 
T q   1 2
3  
 
3 1 2 3 1 2 1  1
   1 1 2

2

v = d2s1  d3c1s2 d3s1c2 s1s2 2 ,  = 0 c1 02    c12 
0      
23 0
2

0 d3 0 d3   0 0 0 1   0 0 0 1  1 
s2 0 c2 d 3c2            
 0 0 0 1   0 d3s2 c2 d3  1 0 0d3   1  d c 
   2 1 
 pc  d 2s1 
 Note : d does not effect ,  only depend on  ,  c   s 
3 z 1 1 x 1 y 2  
 0 

Ha Le Nhu Ngoc Thanh, Ph.D. 15 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 16 Lecture notes: Introduction to Robotics
 25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

Standford manipulator Bruno Siciliano, “Robotics Modelling, Planning and Control”

Standford manipulator
c c s c s d s  d c s 
 1 2 1 1 2 2 1 3 1 2 z  (p  p ) z  (p  p ) z z  (p  p ) z  (p  p ) z  (p  p )
s c d c  d s s 
J   0 5 
c ss
0
3
T   1s2 01 c1 2 2 1 d c 3 1 2 
q 
6
z0
0 1 6
z1
1
0
2 3 6
z3
3 4 6
z4
4 5 6
z5 
 2 2 3 2   
 0 0 0 1 
c Joint i=1 Joint i=2 Joint i=3 Joint i=4 Joint i=5 Joint i=6
 4 0 s 4 0 
c5 0 s5 0 c s
 6 0 0 
  6 
s 0 c4 0 s 0 c5 0 s c6 0 0 
3
4
T 4    04 1 0 0
,
4
5
T 5    05 1 0 0
,
5
6
T 6    06 0

1 d6 
From previous example (spherical arm ) :
   c 0 s1 0
 0 1  0 1  0 0 1   1
c1 0 p1
0 0 0 0 0 
   s 0
1  1
0
T    1 ,
0 1 0 0
 
 0 0 0 1
 
c1c2 s1 c1s 2 d2s1  d3c1s 2 
s c c1 s1s2 d2c1  d 3s1s2  p 3
3  
0
T q   1 2 
s2 0 c2 d3c2 
 0 0 0 1 
The block matrix 36 R can be extracted from 36T coincides with the rotation matrix of Euler angles (2.18)  
that is 4 , 5, 6 constitute the set of ZYZ angles w.r.t. the frame O3 x 3y 3z 3 
c c s c s d s  d c s 0 d s  d c s 
link ai i di i  1 2 1 1 2 2 1 3 1 2     2 1 3 1 2
s c c1 s1s2 d2c1  d3s1s2  0  d2c1  d 3s1s2 
01 0  2 0 1 p4  03T . 43p   1 2      
s2 0 c2 d3c2  0  d3c2 
12 0  2 d2 2  0 0 0 1   
1  1 


23 0 0 d3 0 d s  d c s 
34 0  2 0 4  2 1 3 1 2
 d2c1  d3s1s2 
p5  4T . 5 p  
0 4

45 0  2 0 5  d3c2
 1 
56 0 0 d6 6  
J, v, 
Ha Le Nhu Ngoc Thanh, Ph.D. 17 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 18 Lecture notes: Introduction to Robotics

HCMC University of Tech. & Education Faculty of Mechanical Engineering HCMC University of Tech. & Education Faculty of Mechanical Engineering

CHAPTER 3: ROBOT JACOBIAN Equivalent Forces

l s  l s  l s 
Inverse Differential Kinematics 
a ) J(q)   1 1 2 12 2 12 

f  l1c1  l2c12 l2c12 
Relation between linear velocity and joint velociy  
 1 l1s1  l2s12  l2s12  vx 
 1

  1      
v  2, 2 
2  l1l2s2  l1c1  l2c12

l2c12  vy 
   J(q)q y0
  1, 1  0 0 
v   
If 1  0, 2  0  J(q)  
 l1  l2 l2 
Inverse problem :    q x0
  v   

 0 0 1 
f Therefore, v   x , q   1   v  J(q ) q    
v  Given a 2DOFs as picture, the     
vy  2  l1  l2 l2 2 
q  J1(q)   end-effector is acted by force f , and its velocity  q  J1(q)v = ?
  2, 2 movement v
y0
a)Determine  , 
1, 1 1 2
b) J(q)  
 0 0 

Equivalent Forces b)Determine 1,2 to ensure 1  2  0 l1  l2 l2 
0 l1  l2  fx    fy l1  l2 
x0 0 l  l      
  JT (q)f y0 JT (q)   1 2
    J (q)f  
T
  
f 0 l2  0 l2  fy   fyl2 
This represnts the relation between the force acting the 1 2    l  l 
 
where f  fx fy   1    1 2  fy
T
 
end-effector and the torque acting at the joints x0  2   l2 

Ha Le Nhu Ngoc Thanh, Ph.D. 19 Lecture notes: Introduction to Robotics Ha Le Nhu Ngoc Thanh, Ph.D. 20 Lecture notes: Introduction to Robotics
 25-Nov-23

HCMC University of Tech. & Education Faculty of Mechanical Engineering

Equivalent Forces J

J   v 1
J v 2 J v 3  z0  pe  p0  z1  pe  p1  z2 
   
J  1 J  2 J  3   0 
f3 x z0 z1
2
x3 f 0
 
 
l1c1 

l1c1  l2c12 
 
l1c1  l2c12  d3s12 

   
z2 where p0 = 00 p = 0, p1 = 01 p  l1s1 , p2 = 20 p  l1s1  l2s12 , pe = 0e p  l1s1  l2s12  d3c12 
y1 2
       
y0 0  0   0   0 
x1 z3  
0
 
0

 s12 

1  
z0 = 0, z1 = 01 R(q1 )z0  0, z2 = 01 R(q1 ) 21 R(q1 )z0  c12 ,

   1   
z1 1 3 column of 1 R
rd 0 
  3 column of 2 R
rd 0 
 0 
x0     
 0 1 0 l1c1  l2c12  d3s12  l1s1  l2s12  d 3c12 
c1 s1 0 l1c1  
c2 0 s 2 l2c2    
   J1  z0  pe  p0   1 0 0 l1s1  l2s12  d3c12    l1c1  l2c12  d3s12 
z0 s c1 0 l1s1  1 s 0 c2 l2s2 
0 0 0    
0
T 1    1 , T     2 ,
  0 
  0 

1
 0 0 1 0  2 2
 0 1 0 0 
Given a 3DOFs as picture, the     0 1 0l c  d s  l s  d c 
 1 
end-effector is acted by force f .  0 0 0 1   0 0 0  
 2 12 3 12  
  2 12 3 12 

1 0 0 0   J2  z1  pe  p1   1 0 0l2s12  d 3c12    l2c12  d3s12 

Determine 1,2, f3 0 1 0 0
 0 0 0 0   0 
    
3  3
2
T d   ,
0 0 1 d3  l s  l s  d c l2s12  d 3c12 s12 
Link ai i di i    1 1 2 12 3 12 
0 0 0 1   l1c1  l2c12  d 3s12 l2c12  d 3s12 c12 
0  1 l1 0 0 1 
c 0 s12 l1c1  l2c12  J   0 0 0 
1  2 l2  2 0 2  12  J   v    ,
s12 0 c12 l1s1  l2s12  J    0 0 0 
23 0 0 d3 0 0
T 1, 2    


 
0 1 0 0
 0 
2
  0 0
 
 0 0 0 1   1 1 0 
c 
0 s12 l1c1  l2c12  d3s12 
 12 
s 0 c12 l1s1  l2s12  d3c12     J T (q )f
3  
0
T q   12 

0 1 0 0    
   1   fx 
 2   J T (q )  fy 
 0 0 0 1 

   
 f3   fz 

Ha Le Nhu Ngoc Thanh, Ph.D. 21 Lecture notes: Introduction to Robotics