1

Chapter 5

Robot Jacobian:
Computation and Use
Introduction
In this chapter we will define one of the most important matrices used in robotics: The Robot
Jacobian. This matrix allows us to do many interesting and very important things in robotics,
such as:

Computing Cartesian velocities given the joint velocities

Computing joint velocities given the Cartesian velocities
Performing numerical inverse kinematics for any type and size of a serial robot (even
supper redundant robot, like snake)
Moving robot wrist (or end-effector) along some curve in Cartesian space with constant
speed (examples: straight line motion between two points in Cartesian space; sealing of
a windshield; continuous arc welding)
Incremental motion (Examples: compensation of kinematic errors)
Computing static forces, i.e. mapping of joint torques/forces into Cartesian
torques/forces and vice versa. (Examples: cleaning a window; unscrewing a rusty screw;
inserting a key into tight keyhole,)

Forward Kinematics
q is the joint vector:

q1
q
q 2 q1 q2


qn

qn

p is the position vector of the wrist WRT

robot base:

p1
p p2 p1
p3

p2

p3

Pose of the wrist WRT robot base in form of a homogeneous transformation

matrix:
n

T (q)
j 1

j 1
j

R(q)
T (q j ) T
0

p(q)
1

(1)

Orientation of the wrist WRT robot base can be expressed through the
instantaneous vector of rotation k and angle of rotation :

k , arot ( R)

(2)

3
or through x-y-z Euler angles:
1
1 , 2 , 3 Exyz
( R)
T

(3)

Instantaneous vector of rotation k and angle of rotation can be combined as:

1
k 2
3
Based on the above, we can represent forward kinematics in the form of the
following nonlinear mappings:

p1 f1 (q1 , q2 ,..., qn )
p2 f 2 (q1 , q2 ,..., qn )
p3 f3 (q1 , q2 ,..., qn )

1 g1 (q1 , q2 ,..., qn )
2 g 2 (q1 , q2 ,..., qn )
3 g3 (q1 , q2 ,..., qn )

Position

(4)
Orientation

The same in a compact (vector) form:

p f (q )
g (q)

Position

Cartesian pose
Orientation

(5)

Joint and Cartesian velocities

Suppose all joints are moving with some constant velocity. Consequently, the wrist
(and the end-effector) will move with some constant velocity in Cartesian space.
This velocity has two components: linear velocity of the origin of the wrist, and the
angular velocity of the wrist, which in any instance of time rotates about some axis
of rotation. This axis is called instantaneous axis of rotation.

5
Mapping of joint velocities into Cartesian velocities can be obtained by
differentiating equations (4):

p1 v1

f1
f
f
q1 1 q2 ... 1 qn
q1
q2
qn

p2 v2

f 2
f
f
q1 2 q2 ... 2 qn
q1
q2
qn

p3 v3

f3
f
f
q1 3 q2 ... 3 qn
q1
q2
qn

(6)

1 1

g1
g
g
q1 1 q2 ... 1 qn
q1
q2
qn

2 2

g 2
g
g
q1 2 q2 ... 2 qn
q1
q2
qn

3 3

g3
g
g
q1 3 q2 ... 3 qn
q1
q2
qn

Sane in compact form:

p v J1 q
J2 q

(7)

6
where:

f1

q1
f
J1 2
q1
f 3

q1

f1
q2
f 2
q2
f 3
q2

f1

qn
f 2

qn
f 3

qn

g1

q1
g
J2 2
q1
g3

q1

g1
q2
g 2
q2
g3
q2

g1

qn
g 2

qn
g3

qn
(8)

or even in more compact form:

In order to emphasize that Jacobian depends on joint displacements

(configuration), we sometimes write:

v
J (q) q

(9)

7
The equation (9) performs mapping of joint velocities q into Cartesian linear
velocity v and angular velocity . The inverse mapping is also possible:

v
qJ

1

where J

(10)

is the inverse Jacobian.

In order for the inverse Jacobian to exist, J must be a non-singular matrix, i.e.

det( J ) 0
The configuration

qs

(11)

for which

det( J (qs )) 0

(12)

is called singular configuration of the robot. In a singular configuration robot can

lose one or more degrees of freedom, and become less dexterous (will be
discussed later.)

In the following pages we will develop an algorithm for

computation of J, and then will make use of it.

Differential Kinematics and Statics

5.1 Manipulator Velocities

A manipulator is a serial chain of links connected through joints. If

the joints move at rate q, (calI"d h" loirt utloritin), then the links
will move. Motion of links is characterized by linear and angular
velocities, v6 and uti (called link velocities or Cartesian velocities).
The velocities can be referenced to any frame. Usually they are referenced either to the base frame,oyi and ou),i, or to their own frame,
nun
and n-n. These velocities result from the motion of the joints.
The first link is moved by the joint #1, which has some velocity 91.
The second link is supported (carried) bV the first link. Therefore its
velocities are result of the motion of the previous link, link #1, and
the motion of the second jotnt, qz.The third link is supported by the
second link, therefore its velocities result from the motion of thq second link and the motion of the third joint q3. The velocities are thus
propagatrng from the first movable link to the last link, the wrist. We
will now develop the velocity propagation equations.
5-1

4o

u.

e-6D

^/

Ep

F0

o eqt vvrt
co q

,d0

oN oF

[2o Rar Tnco r. l A

N Z

ki + *g,,,trr?- \rLIAdk ,-rdor

fu+'1t) i I .re1a*iTg* , ",6 a, ,*'^r

(n t-^,,ii-

'tl J'o{x*od

*trtp
TL

8,

fuff./ar 4(,,

F 7!n aa,.r* iaaa:fe'*tc 'e. m{ ' fi-r"t* *

ar Sue,u,pf+) *r^*l *^-r&)
"
r" he"{ 'n' o*to\ '[ nt ft )
A

c.o

^,

W{ N!,*

r{
1t

) * fr#q4.g#*" "'"q-{.u,h -4 f

i-i"

?--xiftur+

fu**-

-t{C",t*, f

-d{

"t?&)*tbu*{" -i;* *"f "d

e)

b{tu^&,c-'

*
*nrufAv))fr JfA
{r

pft*l+): [t-+-&,mtov)e*
(AY) =' AY e'$* {ey] =
A-t > o -1"{.*l^ A?+ o ,
/d,'CI^

y({+st)=
cq

{f

oYR J qc+) = P&)* 4Y fr" Fe)

[t

p(+not)-fft)

AY

AC

-*--

Af

dY

AI t< r(t)

\+ p (t) ir *nfriPvtw
ig
,{n ltm

&1.+p At

=,

ru(f)

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ht
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o

C-

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rt+o at

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l+

nf

-+

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\r.

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ct)

Drl 4f-t* vt^"aftrnt fto,

\f=

lo i:

hJ

xP

4,o4

(Udtil

?Xc"A

-ffi

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/
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,)

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or
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re
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un = (gl
* ri = (ouu,)r ( r._a
{,}
=i]
"'

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'.

,0t =' 0d 2e

[i,*W . u]'e

4*Vn ec

1-r)1

tpJ,Lt?ne* 'i+-l*a

(t =
w

rn

]
L*-r
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M

= zri
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v

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rh

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l---t= Jrllz
L

ftor

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I ti.

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*h*AA

I = lW'

ti ;)
l,'=
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i

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vt toC

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l#ih* oV ;-+hTM,,,

Ie*,

L*-

)n

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A4,v

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,r&tu't*d

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c-

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=.

1= Lr'rilr',

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U

fu" &?#Wiar4 ryo#

tfir!

3fl

C'*firy%
(il
^-J fs)
wt- \N,
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l r-, ir'J

t-4

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J rf, ..!'\iJAa'/u'tf,i.r-- 1or d/{
*\j
&
or.

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aJ;

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1r'= #,7i,)

*tu*

q
.(,)
= irlf:
L?jl

Jr
U

'

Tn*
[*

';Q;Uhu* f6J

q.!,r<

$e*-rrue

rr -eA

.,--'l ,17
tott''tt:
d", -!Wt&!a-

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r.\

It

at ua;-a+ea { ' }

i
j

^J

d&.=
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atd ,o.

:
^fh'

q"
"j

u*]t*"e

SO

* #a

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#d^tt"f
d*
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-1

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f-TT"r$)]

f3l

a f"r f'awfi*jr

* g-r

t LYe4

t
,d

nfr

flri'a*-Jq"4*i#:

1re^co&tantt

fta *nal-

'1ai

p'oi es

t o,,e tt^64

(\akL,rtdt)

IU
rl
6'

Manipulator K inematics

The HT matrices for all frames, with respect to the base can be obtarned by multiplying the relative HT maffices:

fuO*/:tuD

LctA.i

Fpt

z*Tte-9

oF AoFPf On:e

c1 -51
oryt
LJ

ory-,

2t

s1

'c1

00
00

ctz
stz

ct at
st &t

s!2
ctz

00
00

(v

0
0

(4-r4)

?t,

ctz - stz
0r7 _

3r

stz

00
00

ct at

\et *

ctz

d,g

CtZ+ -512
oq4t

stz+

00
00

I cpa)

ctz+

dso

CLat*cpa2

Stet* spa2
77
CIg

4-23

s12 a2

&90

-=___--

tf

Differential Kinematics and Statics

Example:
Consider the Jacobian for the AdeptOne Robot. The z andp vectors
can be extracted from the HT matrices presented in (4-I4): ozr
oz2
oz3
oz4 : e3 and:
-

[0-l

lorrrl
terct*a2cpl
op2op4o?tr,
l9 | ,
lot^tt
| , 'p3l"rs-r*
Lol
LoI
L dz-dzo I

opr-

whieh is giving:

ozr

oz2

x ('pn - opt) -

az sn

| -"ts1 -

at cr *Oaz cn

t-ezsnl
I or"r,

x ('pn - "pz)

LOJ

oz4x ("pn-

rz x ('pn - 'pg)

"pn) - (0, 0, 0)

From (5-6) and (5-7) follows:

- az sn',1,-o, sL2!,010 l1
&tct#a2q2 a2cr2
iO.O I t
-o-lr;olJ

-a4s1
oT

4ar

Fa

-+---+
1 j
%co

kou

inn

lrt a-a !cn'u*

--

-:

-F
0-ll

o-fjoll
1 ,O:llJ
t
0\rS[vr0*.rC

\'

5-7

,\o tM

l,,,u1c,l'-

,,A^'ilufu'

\r"l*dt;q

(5-e)

Co'lt4/hM

qrdao;lrw

\6

Introduction to Robotics

4-th and the 5-th row of f J have allzeroes. This is

due to the factthat the robot is not fully dexterous, i.e. thatthe Cartesian rotations about x- and y-axes can never occur. Consequ ently ut *
and uu are always zero and we can therefore reduce the generalized
velocity vector to: oV 4 : (, *, uy 1 'u z, a ,). This will no longer require
the 6 x4 Jacobian. which in reduced form is:
We notice that the

-4151 - a2 StZ -aZ

oT

4r

at Ct t a2 C12

00
11

Remark 36 lt{ote that the Jacobian

StZ

eZ CtZ

00
00
10
01

(5- 10)

i J does not depend on the joint

on the joint ffiet dzo -l fu.This can be explained by the

following reasoning: The last joint (if revolute) does not contribute
to the linear velociQ of t\e spherical wrist. It only contributes to
the angular velociQ with 0+oz+
not depend on the ioint angle. Also, joint #3 is prlsmatic and its
contribution to the linear velociQ is directty qz
d,s and does not
depend on the vaiue of dso-t dz. Contribution of the same joint to the
angle

a and.

angular velociQ is zero.

5-8

Differential Kinematics and Statics

Suppose now that the robot is symmetric

with a1

a,2

500 mm

and is in the configuration: %

Qz
suppose that only joint #2 rs moving by a constant velocity Qz -- 1.5
rad/sec. What would be the Cartesian velocity of the wrist at the
given configuration i.e. at the time instance which corresponds to
the given configuration?

iJ multiplied by the joint velocity vector q -

The reduced Jacobi^

(0, 1.5,0,0) gives oV4

,,

o,4-

(-snezQz, cr2azQzt 0,

or:

t-stzeznf
,,,azez - tol e2- t_g^l
mmtsec (s-il)
|
] Ltl
LTtl
t

tt)

,:

qz rad/sec

V, = (0,750,0) mm/sec
A2 =lSradlsec

,-

5-9

Qz),

(),

(0,0,1,5)rad/sec

, ft

fi, -

Jo*#'ra,r^ u.r t#{n

9o d-t

,"Al.

d}*

J
i el{Jr

t#Arr."{''q

s aM

Sajl< "fva*qg {-#''*'^'.

tui

*hrr*il t" '!/'e

i,i)

3Y
L*J=
, T*:

[,,*rx f

t"jj

P*-q*

(r]

Stud.erL "F,"dtu%;
P.-^

A- tl

{-ff*-"fdJl
6.-.

Zrl
U-l

( {na ua,Aio^

{"i4^rffi0rere""4\F*ff

-t tt-lkufi

ve"

,r.l

ce)
1\)z

{*r J{4 n*ffi"

irn
*l""he-+
hrflwd'4
Ju/^t q*
iAl a F-oa.
^.f4.
"{te'4-4 {4.
r,urisi $'@il^L \^1 it&!^A C ita
Tt"ii ir "d-rp"-A' &44e3 owns a*u.e*'e&,

Pr

Y-v a^j #U
tl

al.,t
i"f
'(t'o
huu* uA-,.+1.4P. (,-t
fre

Au,t,

(, -oor' t)

*',J{r Z1<*l

'f'

b#w-*

u***t^k*

*tI;

'*i'4

*X' 1-

te*{p

wr

is{ f'**u \g

I
I

*tu*

Lu"*,rlu
*t^

=fzlffnnfee*
Lo

Y*ax,iE" 4
,&4
o* 5 rwv'nfsre

trttttQ ^ t.is*
->
-/'ilre-wrisf

N,
la
D^=
I wllsee ) A+&

'

;R'r*
t**-1

+t^'t

tar I

-l

f ^

*sin

- 1 - J-

:hR'

lolq
I f^w L

tJ= |
I
t

n+J =

4A

-T

{,

.)

L-n"

Jq,

[^ ,o,P uL

Fiifi.

tY\

c_-1

ro

i 1%

Ft1
i "T
-o;tr1*'

fnn

It

II

-t

ra] /ue

OtsR
I

tt

o-1

art9

-qI;'{}ol
tr.Ronr* I
*-i -** {---"t

{"

kl llntr* Lt{
l,
ic
t:.f
\
H l-c
?

t-l"d
o,1d

i'* #
(r f r "/re *i

flr, I

n,tiE {

hW*

Icrzr :Srz{

iR-- ls''*
L0

'f

02.1 o

lJ

AdeptOne Robot Jacobians (Summary)

[-o(t, *srr) -astz

o.r-l

o(c

+4)

o"-l o

.1 o

ol
iJ

o t

f o(to

+ sro) aso

."Tl o

0l

aQz o

or-lo?o*cro)

0
acc 0

ot

0l
ol,
ol

l,

asrz 0
or-r=Tl |-a@,*ct) -a(q +s,r) 0
A,J
a's,
0
o_rrl u
a\0
Laq

I
1'

l- ocq
ir'=*l-a{c'++)

lo11

I i

2I

=",Ui[,

o",,

aczq

-as4

a(so

soo)

o
-asz+

lJ =:U:J

'F;j*
-:*"-p,.l, 3u
=; u-, =|..:
e-'
""-Lo ;Rt J'
" [o :R IJ

"u =f lR'

a's,

0a

0
0

a's,

ol
ol
ol

t"rJ

1r* \t

wre to* 8;"^

d+nl

laa,qgl*t

l'^Ll =

i*; i
\^v

urx

-'j-]

t0

rd

(\ Ol w,/\

yL

^*i

A,,"'l"t?.,

Ul'rt6,ioWWau

;* 1
Jr l= nJL

1 :

r.al L

cJ"

ry{'n' '
J -+
r;l L

1
(%v<'^
- Q.olt'I,^j;""i'"t vtl'oerhur )

%lq*r'*at'u

I-or

777 :

o--t l"at I
v=. flT-' l*
rr)

' ?l-'lrf"v;l
"-r.-=
L*tu*

Na

na &A ! fYnr% u*A;h'u*

fv
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-t

i lf,l)* o

I
;ng'

h,

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',

(A^t)) -}F

Srau

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eT
l*e( O I
f^J Ia-'
t{
;

L*}

Aslt;l)

dWA4 = drl(t)ArlCe7

{n*1

;dl*'

dJ

t^^q)

ro J
't-*
Ib ianl
lnn

*t6

dto)nd(s)
It
Pl=
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d,f

{a;)

{'x:';

^,/6,\.d**
il*'''

so,

{r.l) = ,t-J"[*])

.l^

is @+;ht^t b no*

adtil) t'o or &j (:!'+

a Jl^I/-

"---TT\
lW$tnq %f,"t

W*

ru

nj
tlj

lacu

-a

str

j- lo (*q+ .,') a (gu*

=
nt^
L{sa[| v:'
"\I

,*

I 6Czt'

na,Szg

et

ifi'-O
-\I
VrF
,^

L/

r'

Se,*)

'

t*.

JA
unv
-''

a.
i\

),
Uu
--T = (4,
*

c)

CI

*s'
o

'fi
*su

C,D"

4)q

2r{

f,acotstAN oF rHE
Eruo

-EFFacIoR

S'o^e{',/u^1a we-

*rr&

+"

ft^A

o{ W EE i,rsfap;1 ,1 r, rtrst.

+L,4

W*Grto&\

y"/"i|et

o1+

4l^
ve

=lF{ i'PJ

o^

L{, 'j

aE:

utt(tot*
ut
'l

1,{e
I

@utd.wea,S

onl-

K*aw

lu {,*A

use owf !-rt.

WE

,tr

^'A

"",A
*rA-ou)g

t\t

4f,'= &>Xf :

tu

,rJE

oco,

t4)

ttJf

tl"t

>{

^--,

tnla
=

'6^u'fta tan = k^ -(flR%) =

"a^

f'*1[ x
l^^;3

iol
et
lr i^;nR fir ttrnl
I---i,""
t;,-:

i lO:

* j
[i'ot,

a4.r'

ot !
y'

fJ

o$n

tn,

,!l

i1 z

}-

- f"R!yri,P,

*L

'Dg

P-{"

G--Raf

--r.F
,L.,

Z7

o^T
_op
-/lnt\ ^r1
W a1 I-\

stt

;l
fJa; icJarc"b\o't

;o1u&,^et uK $^x^/ tafritao-

r"it& re'pu.uct tc eF -

lt*e:

f", I lrn-'clr - o'-1r*

"r'j

| ^--:- I=
|

l?l

irotj

LgR'

rrrt ofiqnl\'
E fr"-- na K e

d
","-14

hu {EE
.t

[.s-J

L,,j
1

TJL

?Jr

(las is Jacobta/r,

EJ- llI
E-T-

[o

-l I'.*-

llr

.
r

ll--.+
"

J[C;

-;R

4,.,

'?,;R:

/^^

Yxatwrk 2"

d3= o

b-=*3d
0q

?rp .; v

ot,

=o

$,

Xa

Inortlt

oldf^

*,,^fr^J -rAd [4

2 tat/sec

*.li
?*x,pffi ^r=
d
{l
x-arcni . {lu
wt,^,rf ,w,nlg| 3o" *l$ld
't
A h*o

a,{.r,nl4}

wtiir{ 1 wA-{+{-#,

[:r
otlr

I
I

h_
vre

,nn

na*'4s ll,'A

:*'*e'_ \n

l=ffi H={

a
e

q,

-o

-A/

o,

-a

0L

-4

o
.

-atL

*M'4
9r-=

5:t

-t
*l

s{=

t:l
rr tt
, f^*

C11=

cul=

q.

.*
r-l

1*

llrcREilEN
\,'+.l,rh\

77

MoTfoN

*\ii^%,

IqrJ

{u. &oth rz{'r"nees

"^l , nJ)

ga(Js

L;l=f,s"

1z
t|+'hon:

-l E

AU

Ito&s tr"c 4alli:ai'At4

lr(t* ,,,*,th[%ry lfl at "

hl1
t,n

=r^L

rtt'tt otut twalri*'

Wb'al
$iru
frt URpP) = 3 + rhn(tv) )e'+ - uao$)ff
V)
FT+ avfr(r

or , viu,X
ro1 (e,

r-JtL ^"'7tn:

a^) rot (e",ry) rrt

(et,^f) =

s*il

tt

-18-

= (r+

"E) (r*ap7,)(t* oTVr)

x Tl: and,,* nPL * lS 7= =

/\-,

n-r

,^,-)

= !+@*a)* (aB?.)* (aS a).

= f .t

(A.c

e, + oR(.2- + oonr)

k{tw *\uurj
Now

lV.h-

= A&q

C,)

b4 R

,4'

AfI

ca)
+

G)

eJ (3);

4e.+
",

a?'' Q3

rittg-qa

Ax
Lt4

bz
{*

CT^?

,.

(q)

o0

avh

af^

-h;s nxlntroa^ aJl,'owg 1^n h u"-Y,niL t^Jwu^

;^rrt"Tit 4 (ose'J'^! h 'Yhn ho,rerr^"d

Atr-

AA,+-!. ("r +;Mry l\tQarn0u i,n"

l^ r,od sflaeqCo^Iri ial^ tuf o* p,va JA* (ffunieu

u&+,,^Aion.

||

(1)
Tvtt
"{

\uv+'rx

)z
"

D\

A%

=r,

Ifil]

Iap

('

tA* I

This,A q,A,o^
0*

,lww |t/t

l,

/r,ll"wef
o"t,rc #4 (?,lb|ol-f

(ro4ten
(wni'*)
1n'ggos< +'t^^[ r'ltut

ry^^"N,,-

#{

*l R*J:l+ffi'rffi;.
s i"^ iPi^J g(f.|e-< *W&
ft.Qlfrr% iruolc,tu'et^)
crr/^ y,n qwktut| ll^4- At'h'
hl/vwNutL'

bfu=

- 3-'

K]

itr^

hntrW*^

t(o"-

?o

Introduction to Robotics

Example:

frst
joint is *1 pulse per revolution. Find the resulting position error of
Suppose that the maximal effor of the encoder reading for the

the wrist of the AdeptOne Robot at home configuration. Suppose

a 500 mm. Also suppose that the gear transmission ratio8 for the
first joint is l:80 and that the encoder has 16 pulses per revolution

(ppr).
Since we are looking for the position effor (a scalar quantity), we can
use either
or ft44).If we use the first equation we get:
' rha
a1

(#)

-A"l 'ttr
Ly I

qJ

[-a*t_ a2srzl
l- Lh1 | or4 * a2cn

::r
Lcrl
Xl
I
n

;o

| o| |

|
^p
L7 l

2aL01

l^A

l^B':l

l-

;
1

The position error is:

Lp -

The joint error we find as:

2aL0t

A6"#e

\0.- - {00 x g0- -0.28o:0.0049rad

1

h,^

16-

therefore

Lp

2 x 500 x 0,0049 4.9 mm

-

AdeptOne Robot normally has direct drive for the first joint. The gearing here is assumed only
for the exercise purpose.
5-48

jl

&Lot s{stics

{-ce {r*Urc}
/V * u-J"u*u-* fug,** {M"tt-)

'

tz

F-

Laj

ktvir*^

* jo;#

*trpt^ nt/f"rwb

*u**

**rq

ir4
y,,tA o*J l*xr +t^4- wr
,6{ $4, rgg*L{LJ
*wrk+';,'p,tMC fur g,'ut:

\,tz (o*^, t ?ry*r"J

|,i sr-"S uhj6^*< Jt",

frr nu itrrJle
leurj, J"f^* ru{'* t%o $d,ff {#^";tk6L fr*i

M^ff ;.5

f'l

Fl

->T

aA

5A
u *;',!j. ;;.*-irq ,fe" a'try'**
..
*{,r* {Auffu* *Yffry
ttrnw
w
3*,#
4
\Al

/6

.+

futn,q* I y'sh**4

wo f'14*,

Firrf wW it w0 rTzW or l.r- d*" -ll* rf* {(e

( ttt

{U',u)

worV W= F
*- 8 r** lr
hrce

prd;zst h
W =-lrt

cifi,dlsl

?*4Flts\,ff&
= \Fl

y1a

r-r) =

lt\ t+t(G) =

=\Avl**:
YY

\i
rrr

rT

= r's

- SF

rk

\\orw d*-- L_i" ygue

%
W

{-tAIf

$"t

\At
futor

= VT
WLL:

3nc
\^) =

It

I c*f+J v

s"^1"{ 'ptaj

Jl

t#4

/\.rll./l!.lr

5r
n.a?"'
vv(vvtYt uilAM
I

Itf
1 '-.vvtvt

w: \,{HgI v

: {k'P

t-R
frrLY{

w= kt
Putt/ Notts
(aotr
'

fl trt
/
lnn?Al

L\u

/,

Ituw

i1,

r.

It

UraiM,.l r0l,l

sttlvt)

6,+

{ waaQ
n'frW tf
d:
G:Surcta*

fu ic;rS

s.46)
rcrc'14*

r/w *W,ryJ

'?){.{
Differential Kinematics and Statics

5.8 Manipulator Statics

Manipulator statics is concerned with the relationship between the

joint torques and the external force and torque applied to the manipulator in static equilibrium. In other words, the manipulator's wrist
(or end-effector) is subjected to an external force and torque which
is counter-balanced with the joint torques such thx the manipulator
stays at rest. There is an elegant way to come up with this relationship, based on the virtual work .

5.8.1 Forces/torques at the Wrist

A manipulator is a mechanism with constrained motion. In other
words, the wrist can not move arbitrarily in space, it can only move as
a consequence ofthe joint movementso as defined by the manipulator
forward kinematics. This constraint can be expressed as a vector

relationship:

(p,pk)

f(q)

(s-4s)

where p and kg are Cartesian position and orientation of the manipulator wrist, while q is the joint vector. The vector function f 0
symbolically represents the closed-from solution of the manipulator
forward kinematics. Since we are able to express the constraints (545) in the form of an analytical expression which does not depend
on time or the derivatives of e, p,or cp, these kind of constraints are
called holonomic constraints .

5-49

Introduction to Robotics

We can imagine now a small displacements 5q of the

E,
joints q, which

we callvirtual displacements. The name "virtual" is used because

the
t in reality (they are only imagined),
since the system is in static equilibrium and is not supposed tq move.
In accordance with the constraints (5-45) we also have the virtual
displacements in Cartesian space dp and 6pk which coffespond to
6q. NoW we ean define the virfual work caused by the joint torques
andby the external forces and torques f, and n, acting on the last
link - wrist:

disp

6Wt
6Wc

- virtual work in joint space

- virtual work in Cartesian space

For systems with holonomic constraints, the work in each case is

equal i.e.
E\l'Z

= [Wc

rr 6q, -- fT6p + n!,69k

(s-46)

We can also write the last equation as:

tjn l
rr,fq- lL;r^1r
j Lrr-l

(s-47)

The virtual displacements would be equal to the real displacements

if they were allowed, thus we can use the equations (5-40) or (5-41)
to write:

,r6q-f 3l' ,u,

Ln"l
5-50

Differential Kinematics and

it follows:

Since this has to be satisfied for arry 6q

l-r

j b

Statics

1r

TT:l'"1I
Ln"l

or
t-

r:Jr | l|
Ln"l
fn

(5-4S)

Similarly as we did with the velocities, we can stack the force and
the torque vector to get a single 6 x 1 vector:

F l- fn I
Fr:
l-"
Ln"l

which is called generalizedforce or wrench.

The equation (5-48) now becomes:

T - JTF.,

(5-4e)

If we want to be specific with the reference frames, we can write:

'T

- :JToFn:

5-51

#JTnFn

(s-s0)

JNz
s r,+eud

*
,*

*A"rtow<

rT., qfirt -TT i"r*

L

I=

i-"^"1

{:r o 5u*} e {cr

'&e

GSq
',, 6

d'

* Ne

LzF $a

t3=o

{.t - Nr

'il

r]i
#l

q
,

v*l

+ faq)

IG

*t

tubt

'p

I
!

I
I

ifrr ^l
JI
'5W
i

s
*

I
I
I

-t
t

c-l
J

Nt
N*f

ffil
5'aJ

CourR czt-tNq Tlre

PoBot

ToinrT Speee

Fagor AqyAfo

%
,l'
I

d,wretl
lri rrf,
rir*s ',h.trtUn
4f
l

bn{raL
epre

.^eh

/r

^.

W h.4:'lJ-- 1O rrt rr
d,;'t,11f....rr%;W

lAAr, 'uneh

^o\til, uufiol^)
U*^trtW

uPM

fto'hrruQ

N1 Lm=loF) wu,['t l"lrJt- wnnh t"Jz

|l4qqr"doLJ
| - r'o p:hl+

wrJrol!,Pt-

1s

uo

trr$rrl. kr %.rles\au s

0sa

ilhvA loff

,W*

6
n

t;,

14{

( \IloLouieh t Q87)

vuodix

*r,!n*

Fl
loYffa'rcl,,

vineua{rrs

ps4

\,or,[

.&t6.ao

t4^+

Jfu &w

9,

I^^^.frA(%

J-'[,< C?a-?)

i+

Pa;

fi-' K

k'

cPa

-?)

:
u?n,]

a)%q^A ild^ *d't*

*; (Pa; -?r)

: l, t+1 lleen' iJ. &^^'4t 'nJ

tu

{l.ic we '"4
Ao"ft-ra*u

t0"

T-

snl's< K=
=

'Pt

(lton t'l'r)

-J

aq ?f,tg
,6l-

)7;

l"ugtat'p" h,.s nbik

= l- nrc;t <- tull< i+

,,h; > o

Yfu &ara)A at^ J4^<

?r,r

rqruwJro,+tJ /uwar4 |,ffi#t,(*'3<

Bctl-zr u/e< rea! rezJiug 4 lk *ol*-Q 1"trt
ysil+on ) u,feil 4a&- "*r^fto(' :
7a{
-

ax

Introduction to Robotics

5.4 Resolved Motion Rate Control

In the previous examples (pages 27 and 31) methods of computing
the joint velocities for a given constant velocity in Cartesian space
have been discussed. Here we discuss a more general algorithm
where the desired Cartesian velocities are arbitrary i.e. they can
control
change during the robot operation. A simpl" @
scheme is given in the following block-diagram:
Integrator

[;:]

qo

Controller

Robot

L;l

Desired

Actual

Calresian

Caftesian

Velocity

Velocity
Actual

(Measured)
Configuartion

This scheme does not utilize the Cartesian velocity as a feed-back

information. Therefore, it eanbe inaccurate if the velocities are too
large and the controller cannot track the change of the desired joint
positions fast enough

s-32

\3

Differential Kinematics and Statics

However,thereisu@!-verSionwhichuSeStheCartesianve.
locity as the feedback signal. Since the actual Cartesian velocity is
difficult to measure directly, the Jacobian had to be used to compute it
from the actual joint velocities which can be easily measured. Therefore the indirectly measured Cartesian velocity is called "resolved
rate". This control scheme is called Resolved Motion Rate Control ,
and was proposed by WhitneyT.

I
#

u'l

Y,) +

Robot

Desired
Cartesian
Velocity

l;l

Actual

Actual

(Resolved)

(Measured)

Cartesian

Joint

Velocity

Velocity

D.E. Whitney, 'Resolved Motion Rate Control of Manipulators and Human Prostheses," IEEE
Tians. onMan-Machine Systems, Vol. 10, pp.47-53,1969.
s-33