Static Force Analysis:

Another Role for the Jacobian

Portions abstracted from H. Asada and J.-J. E. Slotine,

Robot Analysis and Control, Wiley, 1986

2017 Max Donath

Static Force Analysis: Balance of forces and moments
Consider forces and moments acting on link i.
Arm links are stationary.
Special Cases

Exerted on the end

effector by an external
object
Equivalent Joint Torques:
Actuator I exerts scalar torque or force tI between link I-1 and link I
in the direction of joint axis I-1. Find the relationship between tI and
FI-1 or N I-1, I

Moment N I-1, I and other components

of F I-1, I are supported by the joint
mechanism internal force and moment

All the other components are

supported by the joint structure.
Definition:

Joint torque vector, N x 1

Endpoint force and moment, 6 x1

 Theorem:
The joint torques t required for a manipulator to exert a given
force and moment F at its end point are given by

where friction in the joint mechanisms are ignored and gravity

forces are not included. The matrix J is the (6 x N) Jacobian
matrix associated with the differential relationship between joint
displacements DQ and end point displacements DP:

Proof
Principle of Virtual Work
Let dQ and dP be virtual displacements of the joints and endpoint,
respectively.

Consider the virtual work

done by the N actuators and
the environment on the arm
linkage
According to the principle of virtual work, d Work must vanish for
arbitrary geometrically admissible displacements, dQ and dP ,
when the arm linkage is in equilibrium

The joint torques t that balance with external force -F are called
the equivalent joint torques.
Example 1: Find the equivalent joint torques to the endpoint force F

To resolve the endpoint force to joint torques, one does not need
to compute the inverse of the Jacobian matrix.
 The wrist force/moment sensor
measures forces and moments
FU, FV, Fw and NU, Nv, NW.
Find the force and moment acting
on the tool at point T.

Note: U-V-W is aligned

with X-Y-Z in this example

DU = DX , DV = DY , DW = DZ
DU = DX + RZ DY RY DZ
DV = DY RZ DX + RX DZ
DW = DZ + RY DX RX DY

# DU & #1 0 0 RZ RY & # DX &

% ( % ( % (
% DV ( % 1 RZ 0 RX ( % DY (
% DW ( %0 1 RY RX 0 ( % DZ (
DP = % ( = % ( % ( = J~ DQ
~
% DU ( %0 1 0 ( D
% X( ~
% DV ( % 0 1 ( % DY (
% ( % ( % (
$ DW ' $ 0 0 1 ' $ D Z '

See load cells at:
http://www.ati-ia.com/products/ft/sensors.aspx
Videos at:
http://www.ati-ia.com/Library/video_listing.aspx?zone=4
Tool changer videos at:
http://www.ati-ia.com/Library/video_listing.aspx?zone=2

http://www.amti.biz

http://www.interfaceforce.com/
Servo stiffness and endpoint compliance:
Consider a joint drive system with position feedback control.

Find the endpoint compliance assuming that arm links are rigid
 1) Equivalent joint torques to the external endpoint
force/moment:

2) Joint deflections

3) Endpoint deflections:

Note A) C varies depending on the arm configuration Q

B) The magnitude of P varies depending on the
direction of the applied force F.
Manipulator Dynamics
So far only kinematics considered, what about
the manipulator dynamics and its control?

Problems:
A. Multimode structural resonance at each joint.
In a serial manipulator each joint is supported
by the preceding link.

Resonant frequency for many manipulators is

approximately 10 HZ

Must sample and control at above 60 HZ

Result:
Computational time limit for on-line
computer control 16.7 msec
B. Variation of link moments of inertia with
manipulator motion and with payload

C. Large gravitational effects and its variation with

manipulator orientation

D. Coordination of joint motion

E. Coriolis and centrifugal effects during

reasonably fast motion

Possible Result:
Poor path control for unknown or varying loads