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Jacobian: Dr. Shady A. Maged

The document discusses the Jacobian matrix and its uses in robotics. The Jacobian is used to map between joint and Cartesian velocities and relates the time derivative of the end effector pose to the joint velocities. It allows determining the required joint torques to produce a desired end effector force. Singularities occur when the Jacobian becomes non-invertible at certain robot configurations and should be avoided in design. The Jacobian also relates joint and end effector accelerations by including its time derivative.

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peterwalid
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74 views

Jacobian: Dr. Shady A. Maged

The document discusses the Jacobian matrix and its uses in robotics. The Jacobian is used to map between joint and Cartesian velocities and relates the time derivative of the end effector pose to the joint velocities. It allows determining the required joint torques to produce a desired end effector force. Singularities occur when the Jacobian becomes non-invertible at certain robot configurations and should be avoided in design. The Jacobian also relates joint and end effector accelerations by including its time derivative.

Uploaded by

peterwalid
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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1

LECTURE 7
JACOBIAN

Dr. Shady A. Maged


Kinematic relations

1 X=FK() x
y
2
3 z
X
4
5
=IK(X)
6
Task Space
Joint Space
Or Cartesian
space

Location of the tool can be specified using a joint space or a cartesian space
description
3

Forward Instantaneous Kinematics


4

Forward Instantaneous Kinematics


5

Forward Instantaneous Kinematics


6

Forward Instantaneous Kinematics


Velocity relations
Relation between joint velocity and cartesian velocity.
JACOBIAN matrix J()
1 X J ( ) x
y
2
3 z

4 x
y
5 J ( ) X
1
6 z
Joint Space Cartesian space
or Task Space

The Jacobian is used to map motion between joint and Cartesian space, an
essential operation when curvilinear robot motion is required in applications
such as welding or assembly.
Jacobian Matrix
x
y Linear velocity Angular velocity
q1
z V x x q
q n1 2

X
x V y
y
y
z z q n n1

z

The Jacbian Equation


X J 6n q n1
9

Velocity analysis between Cartesian Space


and Joint Space
1 1

v 2 2 J 1 v
J


n n
Jacobian Matrix If J is singular
Transformation/Mapping it is not invertible
Singular point/configuration
(Important issue in robot design When = 0/180
2
that should be avoided) singular configuration

The Jacobian is important to determine the torque in the joints needed to be


applied to give a specific contact force at the End-Effector (Static problem)
Singularities
The inverse of the jacobian matrix cannot be calculated
when
det [J()] = 0

Singular points are such values of that cause the determinant of the
Jacobian to be zero
11

Forward Instantaneous Kinematics


12

Forward Instantaneous Kinematics


13

Forward Instantaneous Kinematics


14

Forward Instantaneous Kinematics


15

Forward Instantaneous Kinematics


16

Forward Instantaneous Kinematics


17

Forward Instantaneous Kinematics


18

Forward Instantaneous Kinematics


19

Forward Instantaneous Kinematics


20

Forward Instantaneous Kinematics


21

Forward Instantaneous Kinematics


22

Forward Instantaneous Kinematics


23

Forward Instantaneous Kinematics


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Forward Instantaneous Kinematics


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Forward Instantaneous Kinematics


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Forward Instantaneous Kinematics


27

Forward Instantaneous Kinematics


28

Forward Instantaneous Kinematics


29

Forward Instantaneous Kinematics


30

Forward Instantaneous Kinematics


31

Inverse Instantaneous Kinematics


32

Inverse Instantaneous Kinematics


33

Inverse Instantaneous Kinematics


34

Inverse Instantaneous Kinematics


35

Inverse Instantaneous Kinematics


36

Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


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Inverse Instantaneous Kinematics


43

Inverse Instantaneous Kinematics


Acceleration
The relation between the joint and end-effector velocities:

X J (q )q

Differentiating this equation yields an expression for the


acceleration:
d
X J (q )q [ J (q )]q
dt
Given X of the end-effector acceleration, the joint
acceleration q
d
J (q)q X [ J (q )]q
dt
1 d
q J (q )[ X J (q )]q ]
dt

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