Jacobians:

Velocities and Static Force

Introduction to robotics and industrial

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Differentiation of position vectors
Derivative of a vector:

dB Q(t  t ) Q(t )
B B
B
VQ  Q  lim
dt t 0 t

We are calculating the derivative of Q

relative to frame B.
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Differentiation of position vectors
A velocity vector may be described in
terms of any frame:
 V   dt
A
d A B B
Q
We may write it: Q

A B
 V  Q
A B
R VQ .
B
Speed vector is a free vector

Special case: Velocity of the origin of a frame relative to some

understood universe reference frame
U
VC  V CORG
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Example 1
Both vehicles 100 mph
are heeding in X A fixed universal frame
direction of U

30 mph

U
dU
PCORG U VCORG  vC  30 Xˆ .
dt
( VTORG )C vT UC RvT UC R (100 Xˆ )CU R 1100 Xˆ .
C U

C T
( VCORG )TC RT VCORG UC RUT RT VCORG CU R 1UT R 70 Xˆ .
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Angular velocity vector: 
Linear velocity  attribute of a point

Angular velocity  attribute of a body

Since we always attach a frame

to a body we can consider
angular velocity as describing
rational motion of a frame.
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Angular velocity vector: 
A
 B describes the rotation of frame {B} relative to {A}
direction of  B
A

indicates instantaneous axis

of rotation

Magnitude of B A

indicates speed of rotation

In the case which there is an

understood reference frame:
 C
U  C
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Linear velocity of a rigid body
We wish to describe motion
of {B} relative to frame {A}

If rotation A R is not changing with

B
A
VQ  VBORG  R VQ .
A A
B
B
time:
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Rotational velocity of a rigid body
Two frames with coincident origins
The orientation of B with
respect to A is changing
{A}
A
B {B}
B
Q
in time.
Lets consider that vector
Q is constant as viewed
from B. B
VQ  0

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Rotational velocity of a rigid body
|Q| Is perpendicular
to A  B and AQ

Magnitude of differential
change is:

|Q|  (| A
Q | sin  )(| A
 B | t )

 AVQ  A  B  A Q

Vector cross product

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 Rotational velocity of a rigid body

In general case: VQ  A ( B VQ ) A  B  A Q
A

A
VQ  R VQ   B  R Q.
A
B
B A A
B
B

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Simultaneous linear and rotational
velocity

VQ  VBORG  R VQ   B  R Q.
A A A
B
B A A
B
B

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 Motion of the Links of a Robot

Written in frame i

At any instant, each link of a robot in motion has some linear and
angular velocity.
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 Velocity of a Link

Remember that linear velocity is

associated with a point and angular
velocity is associated with a body. Thus:

The velocity of a link means the linear

velocity of the origin of the link frame
and the rotational velocity of the link

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 Velocity Propagation From Link to Link

• We can compute the velocities of each link

in order starting from the base.
• The velocity of link i+1 will be that of link i,
plus whatever new velocity component
added by joint i+1.

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 Rotational Velocity
• Rotational velocities may be added when
both w vectors are written with respect to
the same frame.
• Therefore the angular velocity of link i+1 is
the same as that of link i plus a new
component caused by rotational velocity at
joint i+1.

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 Velocity Vectors of Neighboring Links

i1 ii  i1iRi1 i1Zˆi1.

i

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 Velocity Propagation From Link to Link
i 1
0 
Note that: 
 i 1
i 1 
Z i 1 

0 

 

 i 1 

By premultiplying both sides of previous
equation to: i 1 R
i
 i 1 ˆ
i 1
i R i 1  R i  R R i 1 Z i 1.
i i 1
i
i i 1
i i 1
i

 i 1 ˆ
i 1
i 1  i R i   i 1 Z i 1.
i 1 i

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 Linear Velocity
• The linear velocity of the origin of frame
{i+1} is the same as that of the origin of
frame {i} plus a new component caused by
rotational velocity of link i.

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 Linear Velocity
Simultaneous linear and rotational
velocity:
A
VQ  VBORG  R VQ   B  R Q.
A A
B
B A A
B
B

i
vi 1  vi  i  Pi 1.
i i i

By premultiplying both sides of previous

equation to: i 1 R
i
i 1
i R i vi 1  i i1R ( i vi  ii i Pi 1 ).
i 1
vi 1  R ( vi  i  Pi 1 ).
i 1
i
i i i

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 Prismatic Joints Link
For the case that joint i+1 is prismatic:

i 1
i1  R i ,
i 1
i
i

 i 1 ˆ
i 1
vi1  R( vi  i  Pi1 )  di1 Z i1.
i 1
i
i i i

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 Velocity Propagation From Link to Link

• Applying those previous equations

successfully from link to link, we can
compute the rotational and linear velocities
of the last link.

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 Example .3
Calculate the velocity
of the tip of the arm
as a function of joint
rates?

A 2-link manipulator with rotational joints

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 Example .3
Frame assignments for the two link
manipulator

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 Example 3
We compute link transformations:

c1  s1 0 0 c2  s2 0 l1  1 0 0 l2 
s c1 0 0 s c2 0 0  0 1 0 0 
1T 
0 1 , 2T 
1  2 , 3T 
2  .
0 0 1 0 0 0 1 0 0 0 1 0
     
0 0 0 1 0 0 0 1 0 0 0 1

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 Example 3
Link to link transformation
0 0 
1
1   0 , 1
v1  0,
1  0
 0   c2 s2 0  0  l1s21 
 
2
2   0 , 2     
v2   s2 c2 0 l11   l1c21 , 
1  2   0 0 1  0   0 
 l1s21 
   l s 0  
3
3  2  2 , 3
v3  l1c21  l2 (1  2 )   1 2
 
1
.
 
l1c2  l2 l2   2 
 0 
 
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 Example 3
Velocities with respect to non
moving base
c12  s12 0
0
R  0
R 1
R 2
R  s c 0 .
3 1 2 3  12 12 
 0 0 1
 l1s11  l2 s12 (1  2 )
      l1s1  l2 s12  l2 s12  1 
0
v3  3 R v3   l1c11  l2 c12 (1   2 )   
0 3
   .
 l1c1  l2 c12 l2 c12   2 
 0 
 

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 Derivative of a Vector Function
• If we have a vector function r which
represents a particle’s position as a function
of time t:

r  rx  ry rz 

dr  drx dry drz 

 
dt  dt dt dt 
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 Vector Derivatives
• We’ve seen how to take a derivative of a
vector vs. A scalar
• What about the derivative of a vector vs. A
vector?

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 Jacobian
• A Jacobian is a vector derivative with respect to
another vector
• If we have f(x), the Jacobian is a matrix of partial
derivatives- one partial derivative for each
combination of components of the vectors
• The Jacobian is usually written as j(f,x), but you can
really just think of it as df/dx

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 Jacobian

 f1 f1 f1 

 x ... 
x2 x N
 1 
 2f f 2
... 
J f , x    x1
...
x2 
 ... ... ... ... 
 f f M 
 M ... ... 
 x1 x N 
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 Partial Derivatives
• The use of the ∂ symbol instead of d for partial
derivatives just implies that it is a single
component in a vector derivative.

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 Jacobian
y1  f1 ( x1 , x2 , x3 , x4 , x5 , x6 ),
y2  f 2 ( x1 , x2 , x3 , x4 , x5 , x6 ),

y6  f 6 ( x1 , x2 , x3 , x4 , x5 , x6 ), Y  F ( X ).
f1 f1 f1
y1  x1  x2    x6 ,
x1 x2 x6
f 2 f 2 f 2
y2  x1  x2    x6 ,
x1 x2 x6

Chain rule J(X)
f 6 f f F
y6  x1  6 x2    6 x6 , Y  X .
x1 x2 x6 X
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 Jacobian
In the field of robotics, we generally speak of
Jacobians which relate joint velocities to
Cartesian velocities of the tip of the arm.

Y  J ( X ) X .
 0
v 0 .
0
V   0   J ()
 
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 Jacobian
.
For a 6 joint robot the Jacobian is 6x6, 
is a 6x1 and v is 6x1.
The number of rows in Jacobian is equal
to number of degrees of freedom in
Cartesian space and the number of
columns is equal to the number of joints.

0 0 
V  J ()
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 Jacobian

In example 3 we had:
 l1s11  l2 s12 (1  2 )
      l1s1  l2 s12  l2 s12  1 
0
v3  3 R v3   l1c11  l2 c12 (1   2 )   
0 3
   .
 l1c1  l2 c12 l2 c12   2 
 0 
 
Thus:  l1s1  l2 s12  l2 s12 
0
J ( )  
 l1c1  l2 c12 l2 c12 
And also: 3  l1s2
J ()  
0
l1c2  l2 l2 
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 Jacobian
• Jacobian might be found by directly
differentiating the kinematic equations of
the mechanism for linear velocity,
however there is no 3x1 orientation vector
whose derivative is rotational velocity.
Thus we get Jacobian using successive
application of:
i 1
vi 1  R( vi  i  Pi 1 )
i 1
i
i i i

 i 1 ˆ
i 1
i 1  i R i   i 1 Z i 1
i 1 i

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 Singularities
Given a transformation relating joint velocity to
Cartesian velocity then
Is this matrix invertible? ( Is it non singular)
0 
V  J ()
0


1
  J ( )v
det[ J ]  0 : singularity
det[ J ]  0 : non  singularity
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 Singularities
Singularities are categorized into two class:
• Workspace boundary singularities:
Occur when the manipulator is fully starched or
folded back on itself.
• Workspace interior singularities:
Are away from workspace boundary and are caused
by two or more joint axes lining up.
All manipulators have singularity at boundaries of their
workspace. In a singular configuration one or more degree of
freedom is lost. ( movement is impossible )
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 Example 4

In example 3 we had:
 l1s2 0
3
J ()  
l1c2  l2 l2 

l1s2 0
DET [ J ()] | J () |  l1l2 s2  0.
l1c2  l2 l2
 2  0 ,180  Workspace boundary singularities

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 Example 5

1 1  l2c12 l2 s12 
0
J ()   l c  l c .
l1l2 s2  1 1 2 12  l1s1  l2 s12 
 c12
1  ,
l1s2
 c1 c12
2    .
l2 s2 l1s2

As the arm stretches out toward 2=0 both joint rates go to

infinity
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 Static Forces in Manipulators
Force and moments propagation

To solve for joint

torques in static
equilibrium

f i  force exerted on link i by link i-1

ni  torque exerted on link i by link i-1

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Static Forces in Manipulators
Solve for the joint torques which must be acting
to keep the system in static equilibrium.

Summing the force and

setting them equal to zero

i
f i  f i 1  0
i

Summing the torques about

the origin of frame i
i
ni i ni 1 iPi 1i f i 1  0
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Static Forces in Manipulators
i
f i  f i 1 ,
i Working down from last link to the base we
formulate the force moment expressions
i
ni  i ni 1  iPi 1i f i 1.

Static force propagation

i
f i  i 1i R i 1f i 1 , from link to link:
i 1
i
ni  R ni 1  Pi 1 f i .
i 1
i i i

Important question: What torques are needed at

the joint to balance reaction forces and moments
 i  n Zˆ i .
i Ti
i
acting on the links?
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 i  if i T i Zˆ i .
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 Work-energy Principle
• The change in the kinetic energy of an
object is equal to the net work done on the
object.

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 Principle of Virtual Work

External virtual work equals the internal virtual strain energy.

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 Jacobians in the Force Domain
Work is the dot product of a vector force or torque and a
vector displacement

F  X    
It can be written as: F X   
T T

The definition of jacobian is

X  j F J     F J   .
T T T T

So we have   J T F.
  J F.0 T0

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 Cartesian Transformation of Velocities and Static
Forces

General velocity of a body

v 3 x1 linear velocity

V 
ω  3 x1 angular velocity

General force of a body

F  3 x1 force vector
F 
N  3 x1 moment vector
6 x 6 transformations map these quantities from one frame to another.
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 Cartesian Transformation of Velocities
and Static Forces
 i 1 ˆ
i 1
  R  
i 1 i
i 1 i Z . i i 1 i 1

Since two frames are rigidly connected  i 1  0
 B vB   AB R  ABR APBORG   A v A 
B     A 
 wB   0
B
A R  A 
w

Where the cross product is  0  pz py 

 
the matrix operator P   p z 0  px 
 p y px 0 


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 Cartesian Transformation of Velocities
and Static Forces
We use the term velocity transformation
B
vB  T v
A
B v
A
A
 B vB   AB R  AB R APBORG   A v A 
B     A 
 B   0  A 
B
AR
Description of velocity in terms of A when given the quantities in B
 A v A   BA R A
PBORG  R  AB
vB 
A   
B
 B 
 A   0   B 
A
BR

A
v A  T vB
A
B v
B

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 Cartesian Transformation of Velocities
and Static Forces
A force-moment transformation

 A FA   A
BR
0   B FB 
A   A A  B 
N P  A
 A   BORG B R B 
R N B 

A
FA  ABT f B
FB

With similarity to Jacobians

A
B Tf  T A
B v
T

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 Example 8
Frames of interest with a force sensor

T
FT  T f FS ,
T
S
S

 T
SR 0
ST f   T
T
T 
.
 PSORG S R
T
S R

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 Manipulator Dynamics

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