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Lecture 9 - Jacobian

The lecture focuses on the concept of Jacobian in robotics and automation, emphasizing the importance of differentiating vectors with respect to specific frames. It discusses how the velocity of points in space is dependent on the frames used for differentiation and expression. Additionally, the lecture covers the propagation of velocity through robotic links and the relationship between angular velocities at joints.

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14 views25 pages

Lecture 9 - Jacobian

The lecture focuses on the concept of Jacobian in robotics and automation, emphasizing the importance of differentiating vectors with respect to specific frames. It discusses how the velocity of points in space is dependent on the frames used for differentiation and expression. Additionally, the lecture covers the propagation of velocity through robotic links and the relationship between angular velocities at joints.

Uploaded by

kam834
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ME – 489:

Robotics and Automation


LECTURE 9: JACOBIAN
From Last Lecture: Differentiation of vector

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From Last Lecture: Differentiation of vector
We see that we are calculating the derivative of Q relative to
frame {B}. For example,
◦ if Q is not changing in time relative to {B}, then the
velocity calculated is zero—even if there is some other
frame in which Q is varying. Thus, it is important to
indicate the frame in which the vector is differentiated.

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Two important frames
 Velocity vector is associated with a point in space
 But the numerical values describing the velocity of that
point depend on two frames:
 one with respect to which the differentiation was done
 and one in which the resulting velocity vector is
expressed.

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Defining velocity w.r.t origin
 Rather than considering a general point's velocity relative to an
arbitrary frame, consider the velocity of the origin of a frame relative
to some understood universe reference frame

 If the notation to is used to refer to the velocity of the origin of


frame {C}; then is the velocity of the origin of frame {C} expressed
in terms of frame {A} (though differentiation was done relative to {U}).

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Relative orientation of B with
respect to A is constant

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Motion of Links of Robot

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Velocity Propagation from link to link

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Velocity Propagation from link to link
Therefore, the angular velocity of link i+1 is the same as that of link i plus a new component caused
by rotational velocity at joint i + 1. This can be written in terms of frame {i} as

The velocity of link i + 1 will be that of link i,


plus whatever new velocity components
were added by joint i + 1.

The angular velocity of link I + 1 is the


same as that of link i plus a new component
caused by rotational velocity at joint i + 1.

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Velocity Propagation from link to link

For prismatic joints

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Jacobian

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Jacobian

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Jacobian

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Any Questions?

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That’s it for today.

See you next week.

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