MCT-352

ROBOTICS
Week 10
INSTRUCTOR: DR. HASHIM IQBAL
 Week 10 Agenda
Solution of Midterm Exam
Differential Kinematics of Manipulator
◦ Geometrical Jacobian
◦ Example
◦ Inverse differential Kinematics
Question 1. Elaborate the difference between reachable and dexterous workspace using the example of 2-
DOF planar manipulator.

Primary Workspace (reachable): WS1

Positions that can be reached with at least one orientation

Secondary Workspace (dexterous): WS2

Positions can be reached with any orientation
 Question 2. Using the Forward Kinematics Approach for the robotic manipulator shown in Figure 1,
A. Assign the frames according to the Denavit-Hartenber (DH) convention. (Do it on question paper)
B. Formulate the D-H table for the manipulator.
C. Calculate all the local homogeneous transformation matrices.

Given that,
roach for the robotic manipulator shown in Figure 1, 𝐶𝜃𝑖 −𝑆𝜃𝑖 𝐶𝛼𝑖 𝑆𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝐶𝜃𝑖
𝑆𝜃𝑖 𝐶𝜃𝑖 𝐶𝛼𝑖 −𝐶𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝑆𝜃𝑖
d : distance from {i-1} to [intersection of z with
i i-1

𝑇𝑖 =
‫ۍ‬ ‫ې‬
𝑖−1
xi] along z(DH)
0 ‫𝑖𝛼𝑆 ێ‬ 𝐶𝛼𝑖 𝑑𝑖
t-Hartenber i-1
convention. (Do it on question paper) ‫ێ‬ ‫ۑ‬
θi: angle from xi-1 to xi along zi-1
0‫ۏ‬ 0 0 1
or. ‫ۑ‬
ai: distance from [intersection of zi-1 with xi] to {i}
ormation matrices. ‫ے‬
along xi
αi: angle from zi-1 to zi about xi

𝐶𝜃𝑖 −𝑆𝜃𝑖 𝐶𝛼𝑖 𝑆𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝐶𝜃𝑖

𝑆 𝐶 𝐶 −𝐶𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝑆𝜃𝑖
𝑇𝑖𝑖−1 = 𝜃𝑖‫𝑖𝛼 𝑖𝜃 ێ‬
‫ۍ‬ ‫ې‬

0 ‫𝑖𝛼𝑆 ێ‬ 𝐶𝛼𝑖 𝑑𝑖
‫ۑ‬

0‫ۏ‬ 0 0 1
‫ۑ‬
‫ے‬
Question 3.
A. Given the wrist center position, find the analytical equations of joint variables 𝜃1,𝜃2 and 𝑑3 using the
Inverse Kinematics Approach for the robotic manipulator shown in Figure 2.
What is the singular configuration of the robot shown in Figure 2?
 Velocity
Kinematics
THE GEOMETRIC JACOBIAN
Geometric Jacobian
Introduction

Velocity scheme in a robot manipulator:

ω 2 z1q 2 ω n z n  1q n

ω1 z 0 q1
v 3 z 2 q 3
ωi z i  1q i

- The geometric Jacobian relates the linear and angular velocity (of the
end effector) with the joint velocities
 v J  6n
 ω   J q q   n If n degrees of freedom
 

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Geometric Jacobian
Structure
Geometric Jacobian:

 v  v   Jv  J v  3nLinear (velocity) or position Jacobian (JL, Jp)

 ω   J q  ω   J  q J   3nAngular or orientation Jacobian (JA, Jo)
     

Detailed structure:  q1 

v
 v  J v1 J v2  J vn   q 2 
 ω    ω
   J 1 J 2  J n    
 
 q n 
Contribution to the
linear velocity due to 1

v  J v1 q
1  J v2 q2    J vn qn Linear relation

ω  J 1 q
1  J 2 q2    J n qn Superposition

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Geometric Jacobian
Prismatic Joint
Objective: find the linear and angular velocities originated by a
prismatic joint
Assumption: the other joints do not move

Axis of zˆ i 1
motion {N}
v  J vi q i
ω  J i q i

Displacement: qi di
v q i zˆ i  1
ω 0

J vi zˆ i  1
Joint i J i 0
{0}
For a prismatic joint

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Geometric Jacobian
Revolute Joint
Objective: find the linear and angular velocities originated by a
revolute joint
Assumption: the other joints do not move
Rotation
axis
zˆ i 1
{N}
v  J vi q i
ω  J i q i
Rotation angle: qi i p i-1,N
v q i zˆ i  1 pi  1, N
ω q i zˆ i  1

Joint i J vi zˆ i  1 pi  1, N

{0}
J i zˆ i  1
For a revolute joint

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Geometric Jacobian
Elements of the Structure
Structure:
 J v1 J v2  J vn 
J  
 J 1 J 2  J n 

For the i-th column: Prismatic Revolute

joint joint

J vi zˆ i 1 zˆ i  1 pi  1, N
J i 0 zˆ i 1

 0
Finding zˆ i 1 : third column of 0 Ri  1 zˆ i  1  0 Ri  1  0 
 1 

Finding pi  1:, N 0
p N  0pi 1 Note: everything is
with respect to frame
{0}
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 Geometric Jacobian
Example 1 y2 x2
Compute the geometric Jacobian of the end effector of
the RR robot
y1 l2
Jacobian: q2
x1
y0 l1
 J v1 J v2   z 0 p 0,2 z1 p1,2 
J    q1
 J 1 J 2   z 0 z1  x0
where: p 0,2 0 p 2  0p 0 p1,2 0 p 2  0p1  0
z 0  0 
Forward kinematics:  1 
0
z1 0 p1 p2
 c1  s1 0 l1c1   c12  s12 0 l1c1  l2 c12   0
s c 0 l s  s c12 0 l1s1  l2 s12 
0
p 0  0 
0
T1  1 1 1 1  0
T2  12
0 0 1 0   0 0 1 0   0 
   
 0 0 0 1   0 0 0 1 
 Geometric Jacobian
Example 1 y2 x2
Compute the geometric Jacobian of the end effector of
the RR robot
y1 l2
  l1s1  l2 s12  l2 s12  q2
x1
 l c l c l2 c12  y0 l1
 1 1 2 12
 z 0 p 0,2 z1 p1,2   0 0  q1
J   
 z0 z1   0 0  x0
 0 0 
 
 1 1 

Maximum rank of the Jacobian: 2 (it has 2 columns)

At most, 2 linear/angular velocity components

are independent
Geometric Jacobian
Exercise:
A robot manipulator is kinematically described by the following DH
parameters

Compute the geometric Jacobian J(q) when L = 1 m, and the joint

configuration is q = (0, 135, 180, 180).
Solution

The Jacobian will be given by:

It is necessary to compute the homogeneous transformation matrices from the

DH parameters shown in the table. Then, each term can be obtained from that
matrix.
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 𝟎
𝒁𝟏

0 1 2
𝑇 1=¿ 𝑇 2=¿ 𝑇 3=¿
𝟎
𝒁𝟐

𝑇 34 =¿ 𝑇 02=¿

0
𝑇 3=¿
Geometric Jacobian
Exercise:
After doing the required multiplications, each component of the
Jacobian is

Replacing values, the Jacobian at the required configuration is:

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 Inverse
Differential
Kinematics
Inverse Differential Kinematics
Objective:
Find the joint velocity () to achieve a given velocity for some point of the robot
(e.g. the end effector)

How?
◦ The forward relation given by the Jacobian is “inverted”

 v  v
 ω   Jq q  J  1  
  If J is square
and
 ω
invertible

The geometric or analytic Jacobian can be inverted

Inverse Differential Kinematics
Example
Consider the following 3R planar robot.
y

The configuration shown in the picture for the robot is

q = (π/4, - π/4, - π/4)
and the link lengths are l1 = 0.5 m, l2 = 1.0 m, l3 = 0.5 m. Find the joint velocity
needed to make the end effector move along the x axis with a linear velocity of
0.7 m/s keeping a fixed orientation.
 Inverse Differential Kinematics
Example
Solution:
- Forward kinematics:

- The analytic Jacobian:

For the terms corresponding to linear velocity, the analytic

Jacobian has the same components as the geometric Jacobian

- The analytic Jacobian with the shown configuration:

- Desired joint velocity (using the inverse of J):