IME-0440 Introducción a la Robótica

Jacobiano

Paul Arauz, PhD

Ingeniería Mecánica
Jacobian
 Jacobian Matrix
1  x  1   x 
  y    y 
 2 Forward
   2   
 3  z  3  Jacobian
 z 
    Matrix
 
   4   x 
 4   
Kinematics
   y 
 5     5  
  Inverse
  6   z 
 6   
Jacobian Matrix:
Joint Task Relationship between joint
space velocity with task
Space Space space velocity
 Jacobian Matrix
 x   h1 (q1 , q2 ,, q6 ) 
y  
h
   2 1 2( q , q ,  , q )
6 

 z   h3 (q1 , q2 ,, q6 ) 
Forward
  =
kinematics    4 1 2
h ( q , q ,  , q )
 Y61 = h(qn1 )
6 

   h5 (q1 , q2 ,, q6 ) 
   
   6 1 2
h ( q , q ,  , q 6 
)  61
 d dh(q ) dq dh(q)
Y61 = h(qn1 ) = = q
dt dq dt dq
 x 
 y   q1 
  q 
 z   dh(q )   2 
  =  
 x   dq  6n Y61 = J 6n q n1
 y 
 
  J = dh(q )
 z 
q n  n1 dq
 Jacobian Matrix
 x 
 y   q1 
  q 
 z   dh(q )   2  Jacobian is a function of
  =  dq     q, it is not a constant!

 x    6n
 
 y  q n  n1
   h1 h1 h1 
 q 
 z  q2 qn 
 1 
 dh(q)   h2 h2

h2 
J =   =  q1 q2 qn 
 dq  6n      
 h h6 h6 
 6  
 q1 q2 qn  6n
 Jacobian Matrix
 x 
Forward Kinematics  y 
 
 z  V 
x  Y =   =  
y  x  
 h1 (q)   y 
  h (q )  
 z  = Y61 = h(q) =  2   z 
    
   
h6 (q) 
  Linear Angular
  velocity velocity
 
 x   
Y61 = J 6n q n1  
V =  y   =  
 z   
 
 Jacobian Matrix
Physical Interpretation
 q1 
 J11 J12  J16  q 
J J 22  J 26   2

Y = Jq =
  21  q3 
 
      q 4 
   q5 
 
 J 61 J 62  J 66  q6 
 x   J11q1 + J12 q 2 +  + J16 q6 
 y   J q + J q +  + J q 
   21 1 22 2 26 6  How each individual
 z   J 31q1 + J 32 q 2 +  + J 36 q6  joint space velocity
  =  

   41 1 J q + J q
42 2
 +  + J q
46 6  contribute to task
   J 51q1 + J 52 q 2 +  + J 56 q6  space velocity.
   
   J 61q1 + J 62 q 2 +  + J 66 q6 
 Jacobian Matrix
Inverse Jacobian
q5
 J11 J12  J16   q1 
q 
J J 22  J 26   2
Y = Jq =  21
 q3 
 
      q 4 
 q5 
   
 J 61 J 62  J 66  q6 
q1

q = J −1Y
Singularity
• rank(J)<min{6,n}, Jacobian Matrix is less than full rank
• Jacobian is non-invertable
• Boundary Singularities: occur when the tool tip is on the surface of the work
envelop.
• Interior Singularities: occur inside the work envelope when two or more of
the axes of the robot form a straight line, i.e., collinear
 Example
 x  l1 cos1 + l2 cos(1 +  2 )  h1 (1 , 2 ) 
 y  =  l sin  + l sin( +  )  = h ( , )
  1 1 2 1 2   2 1 2 
(x , y)

• 2-DOF planar robot arm 2

• Given l1, l2 , Find: Jacobian l2

 x 
Y =   = J  1 

 y   2  1 l1

 h1 h1 
   2  − l1 sin 1 − l2 sin(1 +  2 ) − l2 sin(1 +  2 )
J = 1 =
 h2 h2   l1 cos1 + l2 cos(1 +  2 ) l2 cos(1 +  2 ) 
 1  2 
Example
 
x 

Y =   = J 1

  
y  2
Find the singularity configuration of the 2-DOF planar
robot arm
− l1 sin 1 − l2 sin(1 +  2 ) − l2 sin(1 +  2 )
J = 
 1
l cos  1 + l 2 cos(1 +  2 ) l 2 cos(1 +  2 
) V
(x , y)

determinant(J)=0 Not full rank

l2
2 = 0 Y
2 =0

Det(J)=0 l1
1
x
 Velocity
Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Velocity Propagation
Static Forces
Velocity/Force Duality
Example (Static Forces)