Bot Cong Nghiep

HCM City Univ.
of Technology, Faculty of Mechanical Engineering Phung Tri Cong

08. Velocity Kinematics
Robotics 8.01 Velocity Kinematics

Velocity analysis of a robot is divided into forward and inverse velocity
kinematics

Having the time rate of joint variables and determination of the Cartesian
velocity of end-effector in the global coordinate frame is the forward
velocity kinematics

Determination of the time rate of joint variables based on the velocity of
end-effector is the inverse velocity kinematics
HCM City Univ. of Technology, Faculty of Mechanical Engineering Phung Tri Cong
I. RIGID LINK VELOCITY
Every link of an industrial robot has an angular velocity or a
translational velocity
with respect to its neighbor links

The angular velocity of link in the global coordinate frame
0
is a
summation of global angular velocities of the links , for

=
1
0
=1
0
0

Where
1
if
0
joint is
0 if joint is
1
0

Velocity of origin of
attached to link in base coordinate frame is
1
0
=

1
0
0
0
if joint is R
1
+

1
0
0
0 0
if joint is P

Where and are DH parameters, and d is a frames origin position vector
Therefore, if a robot has links, the global angular velocity of the final
coordinate frame is
=
1
0
=1
0
0

And the global velocity vector of the last links coordinate frame is
1
0
=1
0
0

Example 239 (Serial rigid links angular velocity)
Consider a serial manipulator with links and revolute joints.
The global angular velocity of link in terms of the angular velocity of its
previous links is
=
0
1
+
1
0 0

Or in general
=
0
1
0
=1

Because
1
0
1
0

1
=
2
0
2
0

2
0
=
1
+
=
1
+
1
0
=
2
0
+
1
0
2
0

1
0

2
0

And therefore
1
0
=
1
0
+
1
0
1
=1
1
0
1
=1
0

=
1
0
=1

Example 240 (Serial rigid links translational velocity)
The global translational velocity of link in a serial manipulator in
terms of the translational velocity of its previous links is
=
1
+

1
0
0
0 0 0

Where
0 0

Or in general
1

1
0 0
=1
0

Because

1
0
0 1
0

1
=
1

1 2
0
0 2
0

2
0
=
1 2
0
+
1
0
=
1 2
0
+

1
0
0

=
1

1 2
0
0
+

1
0
0

=
2

1 2
0 0
+
1

1
0 0

And therefore
1

1
0 0
=1
1
0
1
0
1
=1
0

Example 241 (Recursive velocity in Base frame)
The time derivative of a homogeneous transformation matrix can be
arranged in the form
=
The transformation matrix
0
is
0
=
1
0
2
1
3
2

1

And the matrices
0
and
+1
0
are
0
=
1 0 0

+1
0
=
+1
+1
1
=
+1
0
+1
1
=
+1
0
+
+1
0
+1
1 0 0 0 0

These two equations can be combined as a recursive formula
+1
=
+1
1 0 0 0 0

For a revolute joint, the velocity transformation matrix is
+1
=
+1
0 1 0 0
1 0 0 0
0
0
0
0
0 0
0 0
=
+1
0
0 0

Then we have
+1
=
+
+1
=
+1
0
0
0
0 0

+1
=
+1
=
+
+1
+1

0 0
0
0
0 0 0

For a prismatic joint, the velocity coefficient matrix formula is
+1
=
+1
0 0 0 0
0 0 0 0
0
0
0
0
0 1
0 0
=
+1
0
0 0

And therefore, we have
+1
=

and
+1
=
+
+1
+1

0 0
+
+1
0
0
0 0

II. FORWARD VELOCITY KINEMATICS
The forward velocity kinematics of a robot solves the problem of
relating joint speeds, , to the end-effector speeds
. The joint speed

vector of an n DOF robot is an 1 vector
=
1

And the end-effector speed vector
, in the most general case, is a 6 1

vector
0
=
0

The elements of end-effector speed vector
are linearly proportional to

the elements of joint speed vector, ,

= J
J(q) is a 6 proportionality matrix, called Jacobian matrix of the robot
The global expression of velocity
0
of the origin of
is proportional
to the manipulator joint speed
0
,

The 3 proportionality matrix
is the displacement Jacobian

matrix of the manipulator

The global expression of angular velocity
0
of
is proportional to
the rotational components of
0

The 3 proportionality matrix
is the rotational Jacobian matrix

of the robot
=

0

Example 242 (Jacobian matrix for a planar polar manipulator)
A planar polar manipulator has following forward kinematics
2
=
1
2
=
cos sin 0
sin cos
0
0
0
0
0
1 0
0 1
1 0 0

The tip point of the manipulator is at

=
cos
sin

And therefore, its velocity is

=
cos sin
sin cos

There is only one rotational joint coordinate, . The rotation matrix
2
0

indicates that
2
=
0 0
0

So
2
=
3
=
0
0
0

And therefore
3
=
= 1
3
=
cos sin
sin cos
0 1

Example 243 (Jacobian matrix for the 2R planar manipulator)
The angular velocity of links 1 and 2 are
1
=
0
0
0

2
=
1
0
1
0

2
=
1
+
2
=
1
+
0
0
1
0
0 0

And the global velocity of the tip position of the manipulator is

2
=
1
+
2
=
1

1
+
2

2 1
0
0
0
0 1
0 0 0

=
0
0

1
1
+
0
1
+
0

2
2
0 0

=
1
1
+
2
1
+
2
0 0

The unit vector
1
0
and
2
0
can be found
1
=
,
1
1
1 0

=
cos
1
sin
1
0
sin
1
cos
1
0
0 0 1
0
1
0
=
sin
1
cos
1
0


2
=
,
1
+
2
2
2 0

=

1
+
2

1
+
2
0

1
+
2

1
+
2
0
0 0 1
0
1
0
=

1
+
2

1
+
2
0

Substituting back shows that
2
=
1
1
sin
1
cos
1
0
0
+
2
1
+
2

1
+
2

1
+
2
0

Which can be rearranged to have
2

1
+
2
2

1
+
2
1
+
2

1
+
2
2

1
+
2
2

=
2

Taking advantage of structural simplicity of 2R manipulator, we may find
its Jacobian simpler. Forward kinematics of the manipulator is
2
=
1
2
=

1
+
2

1
+
2
0
1
1
+
2

1
+
2

1
+
2

1
+
2
0
1
1
+
2

1
+
2
0
0
0
0
1 0
0 1
1 0 0

Which shows the tip position
2 0
0
of the manipulator is at
1
cos
1
+
2
cos
1
+
2
1
sin
1
+
2
sin
1
+
2

Direct differentiating gives
1
sin
1

2
1
+
2
sin
1
+
2
1
cos
1
+
2
1
+
2
cos
1
+
2

=
2

1
+
2
2

1
+
2
1
+
2

1
+
2
2

1
+
2
2
=

is the Jacobian of the 2R manipulator
2

=
2

1
+
2
2

1
+
2
1
+
2

1
+
2
2

1
+
2

Example 245 (An articulated manipulator)
The links of the manipulator are 90 , 0 , 90
Let us show the tip point of the manipulator by point . The global
coordinates of is

1
=
3
0
0
3
1
0 0

=
cos
1
2
cos
2
+
3

2
+
3
sin
1
2
cos
2
+
3

2
+
3
3
cos
2
+
3
+
2
sin
2
1

The coordinates of
0
must be used to determine the Jacobian of the
manipulator as follows
=
3

=

3
23
+
2
23
23
23
+
2
23
23
1
0
3
23
+
2
23

23
=
2
+
3

III. JACOBIAN GENERATING VECTORS
The Jacobian matrix is a linear transformation, mapping joint speeds to
Cartesian speeds
=

And is equal to
=
0

0
0 0
1

1
0 0

1

1
0 0
0
0
1
0

1
0

J can be calculated column by column. The ith column of J is called
Jacobian generating vector and is denoted by
1

1
0 0
1
0

To calculate the ith column of the Jacobian matrix, we need to find two
vectors
1
0
and
1
0

These vectors are position of origin and the joint axis unit vector of the
frame attached to link 1 , both expressed in base frame

Calculating J, based on the Jacobian generating vectors, shows that forward
velocity kinematics is a consequence of the forward kinematics of robots
Example 246 (Jacobian matrix for a spherical manipulator)
To find Jacobian of a spherical manipulator, we start with determining the
1
0
axes for = 1,2,3

0
=
0
0
1
0
0

1
=
1
1
=
cos
1
0 sin
1
0
sin
1
0 cos
1
0
0
0
1
0
0
0
0 1
0
0
1
0
1 0 0

=
sin
1
cos
1
0
0

2
=
2
2
=
2
0
2
0
2
0
0
0
2

0
0 1
0
0
1
0
=
2
0
2 0 0

Then, the vector
1
0
must be evaluated
3
=
0
0
+
3
2
0 0
0
0
=
3
cos
1
sin
2
3
sin
1
sin
2
0
+
3
cos
2
0

3
=
3
2
=
3
cos
1
sin
2
3
sin
1
sin
2
3
cos
2
0
0
1
0

Therefore, the Jacobian of the manipulator is
=
0

3 0
0 0
1

3 1
0 0
2
0
0
0
1
0
0

=
3
sin
1
sin
2
3
cos
1
cos
2
cos
1
sin
2
3
cos
1
sin
2
3
cos
2
sin
1
sin
1
sin
2
0
0
0
1
3
sin
2
sin
1
cos
1
0
cos
2
0
0
0

Example 247 (Jacobian matrix for an articulated robot)
The Jacobian matrix of a 6 DOF articulated robot is a 6 x 6 matrix
The ith column of the Jacobian is
1

6 1
0 0
1
0

For the first column of the Jacobian matrix, we need to find
0
0
and
6
0

0
=
0
0
1
0

6
=
14
24
34
0

6
0
=
1
0
2
1
3
2
4
3
5
4
6
5
=
6
0
6
0
0 1
=
11
12
13
14
21
22
23
24
31
0
32
0
33
34
0 1

Therefore,
0

6
=
0
0
1
14
24
34
=
24
14
0
0 0

And the first Jacobian generating vector is
0

6
0 0
0
0
=
24
14
0
0
0
1

For the 2
nd
column, we need to find
1
0
and
6 1
0

1
=
1
1
=
1
0
1
1
0
1
0 1 0
0
0
1
=
sin
1
cos
1
0
1 0 0

The first half of
is
1

6 1
0 0
. An easier method is to find
1

6
1 1
and
transform the resultant into the base frame.
Vector
6
1
is the fourth column of
6
=
2
1
3
2
4
3
5
4
6
5 1
, so
6
=
2
cos
2
+
3
sin
2
+
3
2
sin
2
3
cos
2
+
3
2
1

Therefore, the first half of
2
is
1

6 1
0 0
=
1
1

6
1 1 0

=
cos
1
2
sin
2
+
3
cos
2
+
3
sin
1
2
sin
2
+
3
cos
2
+
3
2
cos
2
+
3
sin
2
+
3

So, we have
2
=
1

6 1
0 0
1
0

We can do similarly for other columns:
3
,
4
,
5
and
6

Finally, we have the Jacobian matrix for articulated robot is
=

IV. INVERSE VELOCITY KINEMATICS
The inverse velocity kinematics problem is searching for the joint
speeds vector corresponding to the end-effector speeds vector

The speeds vector of the end-effector
is related to the joint speeds

vector by the Jacobian matrix J
0
=
=

If the Jacobian matrix is non-singular at the moment of calculation, the
inverse Jacobian
exists and the required joint speed vector is

=

Singular configuration is where the determinant of the Jacobian matrix
is zero and therefore,
is indeterminate

Since the inverse velocity kinematics is a consequence of the forward
velocity and need a matrix inversion, the problem is equivalent to the
solution of a set of linear algebraic equations

To find
, every matrix inversion method may be applied

Example 251 (Inverse velocity of a planar polar manipulator)
A planar polar manipulator has following forward velocity equation
=
cos sin
sin cos

To determine inverse velocity, we determine inverse of Jacobian matrix J
=
=
cos sin
sin cos

=
1
=
1
cos sin
sin cos

Example 252 (Inverse velocity of a 2R planar manipulator)
Jacobian and forward velocity kinematics of a 2R planar manipulator is
2

1
+
2
2

1
+
2
1
+
2

1
+
2
2

1
+
2
2

The inverse velocity kinematics need to find the inverse of Jacobian
2
=

Where
=
1
2

1
+
2
2

1
+
2
1
+
2

1
+
2
1
+
2

1
+
2

Example 253 (Singular configuration of a 2R manipulator)
Singularity of a 2R manipulator occurs when determinant of the Jacobian
is zero. From example 252, we have
=
2

1
+
2
2

1
+
2
1
+
2

1
+
2
2

1
+
2

The determinant of J is
=
1
2
sin
2

Therefore, the singular configuration of the manipulator are
2
= 0
2
= 180
Corresponding to the fully extended or fully contracted configurations
At the singular configurations, the value of
1
is indeterminate and may
have any real value
The two columns of the Jacobian matrix become parallel because
= 2
1
1
+
2
2
= 2
1
1
+
2
1

In this situation, the endpoint can only move in the direction perpendicular
to the arm links
Example 256 (Inverse velocity of an articulated manipulator)
The end point of the articulated manipulator is
1
=
cos
1
2
cos
2
+
3
sin
2
+
3
sin
1
2
cos
2
+
3
sin
2
+
3
3
cos
2
+
3
+
2
sin
2
1
0

Using components of
0
, we calculated Jacobian matrix of manipulator
=
3

To solve the forward kinematics of the manipulator

To solve the inverse velocity kinematics of the manipulator, we need to
calculate
11
12
13
21
22
23
31
32
33

11
=
sin
1
3
sin
2
+
3
+
2
cos
2

21
=
1
2
sin
2
+
3
cos
1
cos
3

31
=
1
3
cos
1
cos
3
3
sin
2
+
3
+
2
cos
2

12
=
cos
1
3
sin
2
+
3
+
2
cos
2

22
=
1
2
sin
2
+
3
cos
3
sin
1

32
=
sin
1
3
cos
3
3
sin
2
+
3
+
2
cos
2

13
= 0
23
=
1
2
cos
2
+
3
cos
3

33
=
1
3
cos
3
3
cos
2
+
3
2
sin
2

V. APPLICATION OF JACOBIAN IN STATIC FORCE
We have
1
=
1 1

1
=
1
1
1

1

Example: Consider a two-link robot
At the end of the robot, we have
2
= =
0
2 2

At the joint 2, we have:
1
=
2
1 1
2
=
2
0
2
0
0 0 1
0
2

=
+
2
0

0

1
=
2
1
=
2
2

2 1 2 1 1

=
2
2
0
0
0
=
2
0
2
0
0 0 1
0
0
1

=
0
0

At the joint 1, we have
0
=
1
1
1 0 0

=
1
0
1
0
0 0 1
+
2
0

0

0
=
+
2
+
1
+
2
0
=
12
12
12
+
12
0

0

0
=
1
1
+
1
1

1
1 0 0
=
1
0
0
1
0
0
+
2
0
0

=
1
0
0
+
0
0
+
2
0

=
1
0
1
0
0 0 1
0
0
+
1
+
2
=
0
0
+
1
+
2

Finally, we have:
0
=
1
+
2
+
1
1
=
2

This relationship can be written as a matrix operator
=
2
+
1
2
0
2

We have
=
Where: is a 6 1 Cartesian force-moment vector acting at end-effector
is a 6 1 infinitesimal Cartesian displacement
is a 6 1 vector of torques at the joints
is a 6 1 vector of infinitesimal joint displacements
Or we can write

From definition of Jacobian we have
=
So we may write

Hence, we have

Finally, we have
=


Note:

, , : should be calculated in the same frame
For example: =
0 0 0

The formulation: =
show the moments that the force F apply to

each joints of robot
The torques that we should apply to the actuators of robot to
balance the external force is:
=

VI. RUBRICS FOR ORAL PRESENTATION

Dimension Poor
(1 point)
Average
(2 points)
Excellent
(3 points)
Organization + Sequence is
difficult to follow
+ Lack beginning
or ending

+ Doesnt move
smoothly from 1
idea to next
+ Present in logical
sequence
+ Use appropriate
beginning/ending

+ Move smoothly
from 1 idea to next
+ Logical Infor.,
interested Seq.
+ Use engaging
beginning
thoughtful ending
+ Move smoothly
from 1 idea to next
Content
Accuracy
+ Infor. Included
sufficiently
inaccurate
+ Have some error
but some Infor.
Accurate
+ Infor. is correct
and accurate

Dimension Poor
(1 point)
Average
(2 points)
Excellent
(3 points)
Content
Depth
+ Student does
not has grasp of
information
+ Cannot
answer
questions
+ Student able to
demonstrate basic
concept
+ Can answer
question but not
fully
+ Student
demonstrate full
knowledge
+ Can answer
question fully and
accurate
Connection
to
Audience
+ Level of
presentation is
too elementary
or sophisticated
+ Level of
presentations is
generally
appropriate
+ Level of
presentation is
appropriate to the
audience

Dimension Poor
(1 point)
Average
(2 points)
Excellent
(3 points)
Continuity
+ Transition
between
speakers was
awkward and
unprofessional
+ There was
some
awkwardness but
some was smooth
and professional
+ Transition was
smooth and
professional
Timelines
+ 5 minutes or
more over or
under allotted
time
+ Within 2-5
minutes of
allotted time
+ Within 2
minutes of
allotted time

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HCM City Univ.

of Technology, Faculty of Mechanical Engineering Phung Tri Cong

with respect to its neighbor links

attached to link in base coordinate frame is

. The joint speed

, in the most general case, is a 6 1

are linearly proportional to

is the displacement Jacobian

is the rotational Jacobian matrix

is the Jacobian of the 2R manipulator

is related to the joint speeds

exists and the required joint speed vector is

, every matrix inversion method may be applied

show the moments that the force F apply to

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