Faculty of Engineering – Matria

MPE481
Advanced Robotics
Velocity Kinematics (Prismatic)
Associate Prof. A. Ibrahim

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 1
Robotics Velocity Kinematics (Prismatic)
 Homogenous Transformation Matrix (𝐻𝑛0 )
Homogenous Transformation Matrix (𝐻𝑛𝑛−1 )
cos 𝜃𝑛 −sin 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 sin 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 cos 𝜃𝑛
x2 x3 sin 𝜃𝑛 cos 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 −𝑐𝑜𝑠 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 sin 𝜃𝑛
y1 𝐻𝑛𝑛−1 =
0 sin 𝛼𝑛 cos 𝛼𝑛 𝑑𝑛
a2 z2 a3 z3
z1 0 0 0 1
x1
a1 y2 y3

z0 y
𝐻30 = 𝐻10 * 𝐻21 * 𝐻32
0
x0

Link ai (Link Length) xn αi (Link Twist) xn di (Link Offset) zn-1 θi (Joint Angle) zn-1
Frame 0 → Frame 1 0 90 a1 θ4
Frame 1 → Frame 2 0 90 0 θ5
Frame 2 → Frame 3 0 0 a2 + a3 θ6
Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 2
Robotics Velocity Kinematics (Prismatic)
 Velocity Kinematics
In the previous lectures we derived the forward kinematic equations relating joint positions to
end-effector positions and orientations. In this chapter we derive the velocity relationships,
relating the linear and angular velocities of the end effector to the joint velocities.

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 3
Robotics Velocity Kinematics (Prismatic)
 Velocity Kinematics
Angular Velocity: The Fixed Axis Case
ሶ
ω = 𝜃𝑘
which 𝜃ሶ is the time derivative of θ
the rotation matrix 𝑅𝑗𝑖

Taking derivatives of both sides of Equation

Linear Velocity of a Point Attached to a Moving Frame

v=ω×r

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 4
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix

How fast the end – effector is moving in the X direction

How fast the end – effector is moving in the Y direction

How fast the end – effector is moving in the Z direction

How fast the end – effector is rotating around the X axis 𝒒ሶ 𝒊 = 𝜽ሶ = 𝝎 : Revolute
𝒒ሶ 𝒊 = 𝒅ሶ : Prismatic
How fast the end – effector is rotating around the Y axis

n: the total number of

How fast the end – effector is rotating around the Z axis joints in the manipulator

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 5
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix

cos 𝜃1 0 sin 𝜃1 0 𝐶1 𝐶2 −𝐶1 𝑆2 𝑆1 𝑎 𝐶1 𝐶2

0 −cos 𝜃1 0 𝑆1 𝐶2 −𝑆1 𝑆2 −𝐶1 𝑎 𝑆1 𝐶2
𝐻10 = sin 𝜃1
0
𝐻2 =
0 1 0 𝑑 𝑆2 𝐶2 0 𝑑 + 𝑎 𝑆2
0 0 0 1 0 0 0 1

𝑥ሶ −𝑎𝑆1 𝐶2 −𝑎𝐶1 𝑆2
𝑦ሶ 𝑎𝐶1 𝐶2 −𝑎𝑆1 𝑆2
𝜃ሶ1 0 𝑎𝐶2 𝜃ሶ1
𝑧ሶ = 𝐉 =
𝜔𝑥 𝜃ሶ2 0 𝑆1 𝜃ሶ2
𝜔𝑦 0 −𝐶1
𝜔𝑧 1 0
𝑥ሶ = −𝑎𝑆1 𝐶2 𝜃ሶ1 − 𝑎𝐶1 𝑆2 𝜃ሶ2 𝜔𝑥 = 𝑆1 𝜃ሶ 2 𝜔𝑧 = 𝜃ሶ1

𝑦ሶ = 𝑎𝐶1 𝐶2 𝜃ሶ1 − 𝑎𝑆1 𝑆2 𝜃ሶ2 𝜔𝑦 = − 𝐶1 𝜃ሶ2

𝑧ሶ = 𝑎𝐶2 𝜃ሶ2
Associate Prof. A. Ibrahim Lect (7) MPE481 Advanced
3/25/2025 6
Robotics Velocity Kinematics
Link ai αi di θi
Jacobian Matrix
0→1 0 0 d1 θ1 cos 𝜃𝑛 −sin 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 sin 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 cos 𝜃𝑛
sin 𝜃𝑛 cos 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 −𝑐𝑜𝑠 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 sin 𝜃𝑛
1→2 0 -90 d2 0 𝐻𝑛𝑛−1 =
0 sin 𝛼𝑛 cos 𝛼𝑛 𝑑𝑛
2→3 0 0 d3 0 0 0 0 1

𝐶1 −𝑆1 0 0 1 0 0 0
𝑆1 𝐶1 0 0 0 0 1 0
𝐻10 = 𝐻21 =
0 0 1 𝑑1 0 −1 0 𝑑2
0 0 0 1 0 0 0 1
𝐶1 0 −𝑆1 0
1 0 0 0
𝑆1 0 𝐶1 0
𝐻20 = 0 1 0 0
0 −1 0 𝑑1 + 𝑑2 𝐻32 =
0 0 1 𝑑3
0 0 0 1
0 0 0 1
𝐶1 0 −𝑆1 −𝑑3 𝑆1
𝑆1 0 𝐶1 𝑑3 𝐶1
𝐻30 =
0 −1 0 𝑑1 + 𝑑2
0 0 0 1
Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 7
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix

𝐶1 −𝑆1 0 0 𝐶1 0 −𝑆1 0
𝑆1 𝐶1 0 0 𝑆1 0 𝐶1 0
𝐻10 = 𝐻20 =
0 0 1 𝑑1 0 −1 0 𝑑1 + 𝑑2
0 0 0 1 0 0 0 1

𝐶1 0 −𝑆1 −𝑑3 𝑆1
𝑆1 0 𝐶1 𝑑3 𝐶1
𝐻30 = 𝑥ሶ = −𝑑3 𝐶1 𝜃ሶ1 − 𝑆1 𝑑ሶ 3
0 −1 0 𝑑1 + 𝑑2
0 0 0 1 𝑦ሶ = −𝑑3 𝑆1 𝜃ሶ1 + 𝐶1 𝑑ሶ 3

𝑥ሶ −𝑑3 𝐶1 0 −𝑆1 𝑧ሶ = 𝑑ሶ 2
𝑦ሶ −𝑑3 𝑆1 0 𝐶1 𝜃ሶ
1
𝑧ሶ = 0 1 0 𝜔𝑥 =0
𝜔𝑥 𝑑ሶ 2
0 0 0 𝜔𝑦 =0
𝜔𝑦 0 0 0 𝑑ሶ 3
𝜔𝑧 1 0 0 𝜔𝑧 = 𝜃ሶ1
Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 8
Robotics Velocity Kinematics (Prismatic)
Link ai αi di θi Jacobian Matrix
0→1 a1 0 d1 θ1 𝐻𝑛𝑛−1
cos 𝜃𝑛 −sin 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 sin 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 cos 𝜃𝑛
1→2 a2 180 θ2 sin 𝜃𝑛 cos 𝜃𝑛 𝑐𝑜𝑠𝛼𝑛 −𝑐𝑜𝑠 𝜃𝑛 𝑠𝑖𝑛𝛼𝑛 𝑎𝑛 sin 𝜃𝑛
0 =
0 sin 𝛼𝑛 cos 𝛼𝑛 𝑑𝑛
2→3 0 0 d3 0 0 0 0 1 a1 a2

𝐶1 −𝑆1 0 𝑎1 𝐶1 d1
𝐶2 𝑆2 0 𝑎2 𝐶2
𝑆1 𝐶1 0 𝑎1 𝑆1 y0
𝐻10 = 𝑆2 −𝐶2 0 𝑎2 𝑆2
0 0 1 𝑑1 𝐻21 =
0 0 −1 0 y3
0 0 0 1 0 0 0 1
x0 z3 x3
𝐶1 𝐶2 − 𝑆1 𝑆2 𝑆1 𝐶2 + 𝐶1 𝑆2 0 𝑎1 𝐶1 + 𝑎2 𝐶1 𝐶2 − 𝑆1 𝑆2 𝐶12 𝑆12 0 𝑎1 𝐶1 + 𝑎2 𝐶12
𝑆12 −𝐶12 0 𝑎1 𝑆1 + 𝑎2 𝑆12
𝐻20 = 𝑆1 𝐶2 + 𝐶1 𝑆2 𝑆1 𝑆2 − 𝐶1 𝐶2 0 𝑎1 𝑆1 + 𝑎2 𝑆1 𝐶2 + 𝐶1 𝑆2 =
0 0 −1 𝑑1 0 0 −1 𝑑1
0 0 0 1 0 0 0 1

1 0 0 0 𝐶12 𝑆12 0 𝑎1 𝐶1 + 𝑎2 𝐶12

0 1 0 0 𝑆12 −𝐶12 0 𝑎1 𝑆1 + 𝑎2 𝑆12
𝐻32 = 𝐻30 =
0 0 1 𝑑3 0 0 −1 𝑑1 − 𝑑3
0 0 0 1 0 0 0 1
Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 9
Robotics Velocity Kinematics (Prismatic)
 𝐶1 −𝑆1 0 𝑎1 𝐶1 Jacobian Matrix
𝑆1 𝐶1 0 𝑎1 𝑆1
𝐻10 =
0 0 1 𝑑1
0 0 0 1
a1 a2
𝐶12 𝑆12 0 𝑎1 𝐶1 + 𝑎2 𝐶12
𝑆12 −𝐶12 0 𝑎1 𝑆1 + 𝑎2 𝑆12
𝐻20 =
0 0 −1 𝑑1 d1
0 0 0 1 y0
𝐶12 𝑆12 0 𝑎1 𝐶1 + 𝑎2 𝐶12 y3
𝑆12 −𝐶12 0 𝑎1 𝑆1 + 𝑎2 𝑆12
𝐻30 = x0 z3 x3
0 0 −1 𝑑1 − 𝑑3
0 0 0 1

𝑥ሶ −𝑎1 𝑆1 − 𝑎2 𝑆12 −𝑎2 𝑆12 0

𝑦ሶ 𝑎1 𝐶1 + 𝑎2 𝐶12 𝑎2 𝐶12 0 𝜃ሶ
1
𝑧ሶ = 0 0 −1 ሶ
𝜔𝑥 𝜃2
0 0 0
ሶ
𝜔𝑦 0 0 0 𝑑3
𝜔𝑧 1 1 0
Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 10
Robotics Velocity Kinematics (Prismatic)
 Link ai αi di θi 0 0 1 0 Jacobian Matrix
0→1 90 1 0 0 0
0 d1 90
𝐻10 =
1→2 0 -90 d2 90 0 1 0 𝑑1
2→3 0 0 d3 0 0 0 0 1

0 0 −1 0 1 0 0 0
1 0 0 0 0 1 0 0
𝐻21 = 𝐻32 =
0 −1 0 𝑑2 0 0 1 𝑑3
0 0 0 1 0 0 0 1

0 −1 0 d2
0 0 −1 0
𝐻20 =
1 0 0 𝑑1 𝑥ሶ 0 1 0
0 0 0 1 𝑦ሶ 0 0 −1 𝑑ሶ
1
𝑧ሶ = 1 0 0
𝑑ሶ 2
𝜔𝑥 0 0 0
0 −1 0 d2 ሶ
0 0 −1 −d3
𝜔𝑦 0 0 0 𝑑3
𝐻30 = 𝜔𝑧 0 0 0
1 0 0 𝑑1
0 0 0 1 Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced
3/25/2025 11
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
Finding the Jacobian Matrix

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 12
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 13
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 14
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 15
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 16
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 17
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 18
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)
𝑅1𝑜 = 𝑅𝑥,+90 𝑅𝑦,+90

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 19
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

𝑅21 = 𝑅𝑧,+90 𝑅𝑥,−90

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 20
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 21
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 22
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 23
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 24
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 25
Robotics Velocity Kinematics (Prismatic)
 Jacobian Matrix
The Jacobian Matrix (Prismatic)

Associate Prof. A. Ibrahim Lect (7)MPE 481 Advanced

3/25/2025 26
Robotics Velocity Kinematics (Prismatic)