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Introduction to Robotics
Module 2
1
Introduction
• In this chapter, we expand our consideration of
robot manipulators beyond static position problems.
2
Central Topic -
Simultaneous Linear and Rotational Velocity
• Vector Form
• Matrix Form
3
Definitions - Linear Velocity
• Linear velocity - The instantaneous rate of change
in linear position of a point relative to some frame.
4
Definitions - Linear Velocity
• The position of point Q in frame {A} is represented
by the linear position vector
5
Definitions - Angular Velocity - Vector
• Angular Velocity Vector: A vector whose direction is the
instantaneous axis of rotation of one frame relative to another
and whose magnitude is the rate of rotation about that axis.
6
Definitions - Angular Velocity
• Angular Velocity: The instantaneous rate of change
in the orientation of one frame relative to another.
7
Definitions - Angular Velocity
• Just as there are many ways to represent orientation (Euler
Angles, Roll-Pitch-Yaw Angles, Rotation Matrices, etc.) there
are also many ways to represent the rate of change in
orientation.
– Computed Frame
This is the frame in which the velocity is measured
(differentiate the position).
9
Frame - Velocity
• As with any vector, a velocity vector may be described in
terms of any frame, and this frame of reference is noted with
a leading superscript.
Represented
(Reference Frame)
Computed
(Measured)
10
Linear Velocity - Rigid Body
• Given: Consider a frame {B}
attached to a rigid body whereas
frame {A} is fixed. The
orientation of frame {A}
with respect to frame {B} is not
changing as a function of time
12
Angular Velocity - Rigid Body
• Given: Consider a frame {B}
attached to a rigid body whereas
frame {A} is fixed. The vector
is constant as view from frame
{A}
13
Angular Velocity - Rigid Body -
Intuitive Approach
14
Angular Velocity - Rigid Body -
Intuitive Approach
15
Angular Velocity - Rigid Body -
Intuitive Approach
16
Angular Velocity - Rigid Body -
Intuitive Approach
17
Angular Velocity - Rigid Body -
Intuitive Approach
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Angular Velocity - Rigid Body -
Intuitive Approach
19
Angular Velocity - Rigid Body -
Intuitive Approach
• The figure shows to instants
of time as the vector
rotates around .
This is what an observer in
frame {A} would observe.
20
Angular Velocity - Rigid Body -
Intuitive Approach
• In the general case, the vector Q may also be changing
with respect to the frame {B}. Adding this component
we get.
21
MORE ON ANGULAR VELOCITY
• A property of the derivative of an orthonormal matrix
R SR
Note: S is called the skew-symmetric matrix.
22
Velocity of a point due to rotating
reference frame
B
P cons tan t
• or
23
Skew-symmetric matrices and the
vector cross product
24
Gaining physical insight concerning the
angular velocity vector
25
Gaining physical insight concerning the
angular velocity vector
ª 1 kz'T k y'T º
« »
RK ('T ) « kz'T 1 kx'T »
«k 'T kx'T 1 »
¬ y ¼
ª 0 k z 'T k y 'T º
« »
ª R ('T ) I3 º « k z 'T k x 'T »
R lim « k » R (t ) 0
't o 0 ¬ 't ¼ « k 'T k x 'T 0 »¼
lim ¬
y
R R(t )
't o0 't
27
Angular Velocity - Matrix & Vector Forms
S=
28
Simultaneous Linear and Rotational
Velocity
• The final results for the derivative of a vector in a moving
frame (linear and rotation velocities) as seen from a stationary
frame
• Vector Form
• Matrix Form
29
Simultaneous Linear and Rotational Velocity -
Vector Versus Matrix Representation
• Vector Form
• Matrix Form
30
Position Propagation
• The homogeneous transform matrix provides a complete
description of the linear and angular position relationship
between adjacent links.
31
Motion of the Link of a Robot
• In considering the motion of a robot link we will always use link
frame {0} as the reference frame
Where: - is the linear velocity of the origin of link frame (i)
with respect to frame {0}
- is the angular velocity of the origin of link frame (i)
with respect to frame {0}
32
Frame – Velocity-review
• As with any vector, a velocity vector may be described in
terms of any frame, and this frame of reference is noted with
a leading superscript.
Represented
(Reference Frame)
Computed
(Measured)
33
Velocities - Frame & Notation
• Expressing the velocity of a frame {i} (associated with link i )
relative to the robot base (frame {0}) using our previous
notation is defined as follows:
34
Velocity Propagation
• Given: A manipulator - A
chain of rigid bodies each one
capable of moving relative to
its neighbour
36
Velocity of Adjacent Links - Angular
Velocity 2/5
37
Velocity of Adjacent Links - Angular
Velocity 3/5
38
Velocity of Adjacent Links - Angular
Velocity 4/5
39
Velocity of Adjacent Links - Angular
Velocity 5/5
The result is a recursive equation that shows the angular velocity
of one link in terms of the angular velocity of the previous link plus
the relative motion of the two links.
40
Velocity of Adjacent Links - Linear
Velocity 1/5
• Simultaneous Linear and Rotational Velocity
• Vector Form
• Matrix Form
41
Velocity of Adjacent Links - Linear
Velocity 2/5
• From the relationship developed previously (matrix form)
42
Velocity of Adjacent Links - Linear
Velocity 3/5
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Velocity of Adjacent Links - Linear
Velocity 4/5
• With replacement:
Definition
44
Angular Velocity - Matrix & Vector Forms
S=
45
Velocity of Adjacent Links - Linear
Velocity 5/5
• The result is a recursive equation that shows the linear velocity
of one link in terms of the previous link plus the relative motion
of the two links.
46
Velocity of Adjacent Links - Summary
• Angular Velocity
0 - Prismatic Joint
• Linear Velocity
0 - Revolute Joint
47
Example-2R Robot
Find and
48
Example-2R Robot
49
Example-2R Robot
• For i=0
= =0
50
Example-2R Robot
• For
=0
51
Example-2R Robot
•For =0
• or
52
Example-2R Robot
•or
53
Angular and Linear Velocities - 3R
Robot - Example
• For the manipulator shown in the figure, compute the angular
and linear velocity of the “tool” frame relative to the base frame
expressed in the “tool” frame (that is, calculate
54
Angular and Linear Velocities - 3R
Robot - Example
• Frame attachment
55
Angular and Linear Velocities - 3R
Robot - Example
• DH Parameters
56
Angular and Linear Velocities - 3R
Robot - Example
• From the DH parameter table, we can specify the homogeneous
transform matrix for each adjacent link pair:
0
1 R
57
Angular and Linear Velocities - 3R
Robot - Example
• Compute the angular velocity of the end effector frame relative
to the base frame expressed at the end effector frame.
1 0 T
• For i=0 0 R 1 R
58
Angular and Linear Velocities - 3R
Robot - Example
59
Angular and Linear Velocities - 3R
Robot - Example
• Compute the linear velocity of the end effector frame relative
to the base frame expressed at the end effector frame.
• Note that the term involving the prismatic joint has been
dropped from the equation (it is equal to zero).
60
Angular and Linear Velocities - 3R
Robot - Example
• For i=0
• For i=1
61
Angular and Linear Velocities - 3R
Robot - Example
62
Angular and Linear Velocities - 3R
Robot - Example
ª 0 L2 s3 0 º ªT1 º
« « »
0 L2c3 L3 L3 » «T2 » 4
J (T )T
« »
«¬ L1 L2c2 L3c23 0 0 »¼ «¬T3 »¼
63
Angular and Linear Velocities - 3R
Robot - Example
• Note that the linear and angular velocities ( ) of the end
effector where differentiate (measured) in frame {0} however
represented (expressed) in frame {4}
64
Angular and Linear Velocities - 3R
Robot - Example
• Multiply both sides of the equation by the inverse transformation
matrix, we finally get the linear and angular velocities expressed
and measured in the stationary frame {0}
65
Kinematics Relations - Joint &
Cartesian Spaces
• A robot is often used to manipulate object attached to its tip
(end effector).
• The location of the robot tip may be specified using one of the
following descriptions:
• Joint Space
• Cartesian Space
Euler Angles
66
Kinematics Relations - Forward &
Inverse
• The robot kinematic equations relate the two description of the
robot tip location
67
Kinematics Relations - Forward &
Inverse
68
Jacobian Matrix - Introduction
• The Jacobian is a multi dimensional form of the derivative.
69
Jacobian Matrix - Introduction
• If we wish to calculate the differential of as a function of the
differential we use the chain rule to get
70
Jacobian Matrix - Introduction
• The 6x6 matrix of partial derivative is defined as the Jacobian
matrix
71
Jacobian Matrix - Introduction
• In the field of robotics the
Jacobian matrix describe the
relationship between the joint
angle rates ( ) and the
translation and rotation
velocities of the end effector
( ).
72
Jacobian Matrix - Introduction
• This expression can be expanded to:
• Where:
- is a 6x1 vector of the end effector linear and angular velocities
– is a 6xN Jacobian matrix
– is a Nx1 vector of the manipulator joint velocities
– N is the number of joints
73
How to obtain the Jacobian for a given
robot?
74
How to obtain the Jacobian for a given
robot?
• Alternatively, we can use the velocity “propagation” method
to derive the Jacobian using successive application of the
recursive equation
75
Jacobian Matrix - Calculation
Methods
76
Jacobian Matrix by Differentiation -
3R - 1/3 (Geometric approach)
• Consider the following 3 DOF Planar manipulator
78
Jacobian Matrix by Differentiation -
3R - 3/3
• Using a matrix form we get
79
Jacobian: Velocity propagation
• The recursive expressions for the adjacent joint linear and
angular velocities describe a relationship between the joint
angle rates ( T ) and the transnational and rotational
velocities of the end effector ( X ):
80
Jacobian: Velocity propagation
• Therefore the recursive expressions for the adjacent joint linear
and angular velocities can be used to determine the Jacobian in
the end effector frame
81
Angular and Linear Velocities - 3R
Robot - Example
• For the manipulator shown in the figure, compute the angular
and linear velocity of the “tool” frame relative to the base frame
expressed in the “tool” frame (that is, calculate
82
Angular and Linear Velocities - 3R
Robot - Example
• Compute the angular velocity of the end effector frame relative
to the base frame expressed at the end effector frame.
1 0 T
• For i=0 0 R 1 R
83
Angular and Linear Velocities - 3R
Robot - Example
ª 0 L2 s3 0 º ªT1 º
« « »
0 L2c3 L3 L3 » «T2 » 4
J (T )T
« »
«¬ L1 L2c2 L3c23 0 0 »¼ «¬T3 »¼
84
Jacobian: Velocities and singularities
85
Singularity - The Concept
86
How to find the singularities?
• The roots of the following equations determine the singularities:
87
What is the geometric or physical
meanings of singularities?
• Cleary, when a robot is in a singular configuration, it has
lost one or more degree of freedom as viewed from Cartesian
space.
88
Where do singularities occur?
• All mechanisms have singularities at the boundary of their
workspace, and most have loci of singularities inside their
workspace. Hence singularities can be classified into two
categories:
For f (ș ) = 0 ,
- if there is only one variable inside the equation, the singularity
is only at individual points;
- if there are two variables inside the equation, the singularities
occur alone a line;
- if more than three variables, the singularities form a hyper-
surface.
90
Singularity -Summary
92
Properties of the Jacobian -
Velocity Mapping and Singularities
• Where are the singularities?
• What is the physical explanation
of the singularities?
• Are they workspace boundary or
interior singularities?
• From example 5.3
93
Properties of the Jacobian -
Velocity Mapping and Singularities
95
Properties of the Jacobian -
Velocity Mapping and Singularities
• Example: Planar 3R
96
Properties of the Jacobian -
Velocity Mapping and Singularities
• The manipulator loses 1 DEF. The end effector can only move along
the tangent direction of the arm. Motion along the radial direction is
not possible.
97
Angular and Linear Velocities - 3R
Robot - Example
• For the manipulator shown in the figure, compute the angular
and linear velocity of the “tool” frame relative to the base frame
expressed in the “tool” frame (that is, calculate
ª 0 L2s3 0 º ªT1 º
« 0 L c L L » «T » 4
J (T)T
« 2 3 3 3 »« 2»
«¬L1 L2c2 L3c23 0 0 »¼ «¬T3 »¼
0 0 4
Det ( V4 ) Det ( R V4 )
4 Det ( R ) Det ( J (T )T)
0
4
4
0 det(4
J (T )) 0
det( 4 J (T )) ( L`1 L2 c 2 L3 c 23 ) L2 L3 s 3 0
L`1 L2c2 L3c23 0 L2L3s3 0
Draw the locus of the singular points of the robot in its workspace (or in
its base frame). (Interior singularities?)
99
Angular and Linear Velocities - 3R
Robot - Example
How to find
0
V4 or 0
J (T ) ?
0
X Tip ( L1 L2 cos T 2 L3 cos( T 2 T 3 )) cos T 1 top view
Geometric approach: 0
YTip ( L1 L2 cos T 2 L3 cos( T 2 T 3 )) sin T 1 top view
0
Z Tip L2 sin T 2 L3 sin( T 2 T 3 ) side view
0
V4 0
J (T )T dPTip / dt
100
Jacobian: Velocities and Static Forces
101
Static Analysis Protocol - Free Body
Diagram 1/
Step 1
Lock all the joints - Converting the
manipulator (mechanism) to a
structure
Step 2
Consider each link in the structure as
a free body and write the force /
moment equilibrium equations
Step 3
Solve the equations - 6 Eq. for each link.
Apply backward solution starting from
the last link (end effector) and end up at
the first link (base)
102
Static Analysis Protocol - Free Body
Diagram 2/
• Special Symbols are defined
for the force and torque
exerted by the neighbor link
Reference Force f or
coordinate torque n
system {B}
Exerted on link A by link A-1
103
Static Analysis Protocol - Free Body
Diagram 3/
104
Static Analysis Protocol - Free Body
Diagram 4/
105
Static Analysis Protocol - Free Body
Diagram 5/
• Changing the reference frame such that each force (and torque)
is expressed upon their link’s frame, we find the static force
(and torque) propagation from link i+1 to link i
106
Static Analysis Protocol - Free Body
Diagram 6/
• Question: What torques are needed at the joints in order to
balance the reaction forces and moments acting on the link.
Revolute Joint
Prismatic Joint
107
Example - 2R Robot - Static Analysis
Problem
Given:
- 2R Robot
-A Force vector is applied by
the end effector
Compute:
The required joint torque as a
function of the robot configuration
and the applied force
108
Example - 2R Robot - Static Analysis
Solution
109
Example - 2R Robot - Static Analysis
• For i=2
Vector cross
product
110
Example - 2R Robot - Static Analysis
• For i=1
111
Example - 2R Robot - Static Analysis
112
Example - 2R Robot - Static Analysis
113
Jacobians in the force domain
115
Jacobians: Velocities and static forces
• For velocity:
• For force-torque:
116
Jacobians in the force domain
• If the Jacobian is singular, F could be increased or
decreased in certain directions (those defining the
null-space of the Jacobian) with no effect on the
value calculated for .
117
Properties of the Jacobian -
Force Mapping and Singularities
• The relationship between joint torque and end effector force
and moments is given by:
118
Properties of the Jacobian -
Force Mapping and Singularities
• This situation is an old and famous one in mechanical
engineering.
• The piston force, F, cannot generate any torque around the drive
wheel axis because the linkage is singular in the position shown.
119
Cartesian transformation of velocities
and static forces
120
Cartesian transformation of velocities
and static forces
If the frames {A} and {B} are rigidly connected, the matrix
operator form to transform general velocity vectors in frame
{A} to their description in frame {B} is given as follows:
« i 1 » « »« i »
¬ Z i¼ ¬ 0 i 1
i R ¼ ¬ Zi ¼
121
Cartesian transformation of velocities
and static forces
By defining a 6 ×6 operator: a velocity transformation,
which maps velocities in {A} into velcoties in {B}, we have
• or
i 1 i 1 i
i
vi i
R i 1vi 1 i Zi ui Pi 1
i R ( vi Z i u Pi 1 )
i i i 1
vi 1 i
Zi i
R i 1Z i 1
•Note that i 1
Zi 1
i 1
R iZi
i 1
i 1
i
R i 1vi 1 iPi 1ui Zi
i
122
Cartesian transformation of velocities
and static forces
• Similarly, with the static forces relations
• We have the
123
Cartesian transformation of velocities
and static forces
Velocity and force transformations are similar to Jacobians
in that they related velcotities and force in different
coordinate systems. Similarly to Jacobians we have that
124
Example
• Given:
-the output of the force
Sensor.
-the transformation
related the tool frame to
the sensor frame.
• Find:
• Solution:
where
125