0% found this document useful (0 votes)
22 views

51 Velocity

Uploaded by

www.nuthang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
22 views

51 Velocity

Uploaded by

www.nuthang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 21

Robotics

Velocity
DR. ABHISHEK SARKAR
MECHANICAL ENGINEERING
BITS HYDERABAD
Angular Velocity
• We will consider angular velocity about a fixed
axis, and then generalize this to rotation about
an arbitrary, possibly moving axis with the aid of
skew symmetric matrices.
• Equipped with this general representation of
angular velocities, we will be able to derive
equations for both the angular velocity and the
linear velocity.

2
Angular Velocity
• When a rigid body moves in a
pure rotation about a fixed axis, 𝜔
perpendicular from any point
of the body to the axis sweeps
an angle 𝜃.
̰ is the unit vector in the
• 𝑘
direction of rotation. 𝑟
𝑣
• Angular velocity 𝜔 = 𝜃Ǘ 𝑘 ̰
3 • Linear velocity 𝑣 = 𝜔 × 𝑟
Derivative of Rotation Matrix
• A rotation matrix R is function of 𝜃, and 𝑅 𝜃
𝑅 𝜃 𝑅 𝜃 𝑇=𝐼
• Differentiating with respect to 𝜃
𝑑𝑅 𝜃 𝑑𝑅 𝜃 𝑇
𝑅 𝜃 𝑇+𝑅 𝜃 =0
𝑑𝜃 𝑑𝜃
𝑑𝑅 𝜃 𝑇
• Lets define 𝑆 = 𝑅 𝜃
𝑑𝜃
𝑑𝑅 𝜃 𝑇 𝑑𝑅 𝜃 𝑇
• Then 𝑆𝑇 = 𝑅 𝜃 𝑇 =𝑅 𝜃
𝑑𝜃 𝑑𝜃
4
Derivative of Rotation Matrix
• Therefore S is a skew-symmetric matrix
𝑆 + 𝑆𝑇 = 0
• Multiplying the equation of S with 𝑅 𝜃
𝑑𝑅 𝜃
𝑆𝑅 𝜃 = 𝑅 𝜃 𝑇𝑅 𝜃
𝑑𝜃
𝑑𝑅 𝜃
• Or = 𝑆𝑅 𝜃
𝑑𝜃

5
Example
1 0 0
• If 𝑅 = 𝑅𝑥 𝜃 = 0 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃
0 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃
0 0 0 1 0 0
𝑑𝑅 𝜃
• Then 𝑆 = 𝑑𝜃
𝑅 𝜃 𝑇 = 0 −𝑠𝑖𝑛𝜃 −𝑐𝑜𝑠𝜃 0 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃
0 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃 0 −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃
0 0 0
= 0 0 −1 = 𝑆 𝑖
0 1 0

6
Example
• For Ry, rotation matrix about y,
0 0 1
𝑆 𝑗 = 0 0 0
−1 0 0
• For Rz, rotation matrix about z,
0 −1 0
𝑆 𝑘 = 1 0 0
0 0 0

7
Angular Velocity Matrix
• A 3D angular velocity vector 𝜔1 , 𝜔2 , 𝜔3 𝑇 is associated with a
skew symmetric matrix 𝐺 𝜔 ෥𝐵 called the angular velocity matrix
0 −𝜔3 𝜔2
෥ = 𝜔3
𝜔 0 −𝜔1 = 𝑆 𝜔 𝑡
−𝜔2 𝜔1 0
Suppose that a rotation matrix R is time varying; and assuming
that R(t) is continuously differentiable as a function of t.
• Thus, the time derivative is given by 𝑅Ǘ 𝑡 = 𝑆 𝜔 𝑡 𝑅 𝑡 .
8
Decomposition of
an angular velocity vector
• Every angular velocity vector can be decomposed to three
principal angular velocity vectors.
• 𝐺𝜔෥𝐵 = 𝐺 𝜔 ෥𝐵 . 𝐼̰ . 𝐼̰ + 𝐺 𝜔
෥𝐵 . ̰
𝐽 .̰
𝐽 + 𝐺𝜔 ̰ .𝐾
෥𝐵 . 𝐾 ̰
= 𝜔𝑋 𝐼̰ + 𝜔𝑌 ̰ ̰
𝐽 + 𝜔𝑍 𝐾
= 𝜔𝑋 + 𝜔𝑌 + 𝜔𝑍

9
Addition of angular Velocities
• Starting from a combination of rotations
0 0 1
𝑅2 = 𝑅1 𝑅2
• and taking derivative, we find
0 Ǘ 0 Ǘ 1 0 1
𝑅2 = 𝑅1 𝑅2 + 𝑅1 𝑅Ǘ 2
• Now, substituting the derivative of rotation matrices with the
0 Ǘ 0
matrix multiplication form 𝑅2 = 0𝜔 ෥2 𝑅2
0 Ǘ 0
𝑅1 = 0𝜔 ෥1 𝑅1
1 1
10 𝑅Ǘ 2 = 1𝜔
෥2 𝑅2
Addition of angular Velocities
• Results in
0 1 0 1
0𝜔
෥2 ෥1 (0 𝑅1
𝑅2 = 0𝜔 𝑅2 ) + 𝑅1 1𝜔
෥2 𝑅2
0 0 0
= 0𝜔෤ 1 𝑅2 + 𝑅1 1𝜔෤ 2 (0 𝑅1𝑇 𝑅1 )1 𝑅2
0 0 𝑇 0
= 0𝜔෤ 1 𝑅2 + (0 𝑅1 1𝜔෤ 2 𝑅1 ) 𝑅2
0 0
= 0𝜔෤ 1 𝑅2 + 01𝜔෤ 2 𝑅2
0 0
• Where 𝑅1 1𝜔෤ 2 𝑅1𝑇 = 01𝜔෤ 2 [ 01𝜔
෥2 w.r.t the {0} coordinate frame]
• Therefore, 0𝜔
෥ 2 = 0𝜔෥1 + 01𝜔
෥2

11
Addition of angular Velocities
• Which indicates that the angular velocities may be added
relatively
0
𝜔
0 2 = 𝜔
0 1 + 1 𝜔2
• This result also holds for any number of angular velocities.
0 0 0
𝜔
0 2 = 𝜔
0 1 + 𝜔
1 2 + 𝜔
2 3 +. . . + n−1 𝜔𝑛
0
= σ𝑛𝑖−1 i−1 𝜔𝑖

12
Linear Velocity of a Point
Attached to a Moving Frame
• Then the coordinates of p with respect to the frame {0} are given
0 0 1
by 𝑝= 𝑅1 𝑡 𝑝
0
• The velocity 𝑝Ǘ is then given by the product rule for
0 0 Ǘ 1 0 1
differentiation as 𝑝Ǘ = 𝑅1 𝑡 𝑝+ 𝑅1 𝑡 𝑝Ǘ
0 0 1
=𝑆 𝜔 𝑅1 𝑡 𝑝
0 0 0 0
=𝑆 𝜔 𝑝= 𝜔× 𝑝
• Note that p is rigidly attached to frame {1}, and therefore its
1
coordinates relative to frame {1} do not change, giving 𝑝Ǘ = 0.
14
Rotation of a body point
about a global axis

• Given 𝛼Ǘ = 10𝑜 Τ𝑠 about the Z-axis;


when the slab is at 𝛼 = 30𝑜
𝐺 𝐺 𝐵
• 𝑣𝑃 = 𝑅Ǘ 𝐵 𝑡 𝑟𝑃
10𝜋 0 −1 0 𝑐𝛼 −𝑠𝛼 0 5
= 1 0 0 𝑠𝛼 𝑐𝛼 0 30
180
0 0 0 0 0 1 10
−𝑠 𝜋Τ6 −𝑐 𝜋Τ6 0 5
10𝜋
= 𝑐 𝜋Τ6 −𝑠 𝜋Τ6 0 30
180
0 0 0 10
−4.97
= −1.86
15 0
Rigid Body Velocity
• The rigid body can rotate in the
{B}
global frame, while the origin of
the body frame B can translate
Br
relative to the origin of G.
Gd
B • The coordinates of a body point
P
Gr
P in local and global frames are
related by
𝐺 𝐵 𝐺
{G} 𝐺𝑟 = 𝑅𝐵 𝑟𝑃 + 𝑑𝐵
𝑃
16
Rigid Body Velocity
• The velocity of the point P in G is
{B} 𝐺 𝐺 𝐺 𝐵 𝐺
• 𝑣𝑃 = 𝑟Ǘ𝑃 = 𝑅Ǘ 𝐵 𝑟𝑃 + 𝑑Ǘ 𝐵
𝐺 𝐺 Ǘ
Br • = 𝐺𝜔
෥𝐵 𝑟
𝐵 𝑃 + 𝑑𝐵
𝐺 𝐺 𝐺
Gd • = 𝜔

𝐺 𝐵 𝑟𝑃 − 𝑑𝐵 + 𝑑Ǘ 𝐵
𝐺 𝐺 𝐺
B
P = 𝜔
𝐺 𝐵 × 𝑟𝑃 − 𝑑𝐵 + 𝑑Ǘ 𝐵
Gr • a vector addition of rotational and
translational velocities, both expressed in
{G} the global frame.

17
Geometric interpretation
𝐺 𝐺
𝐺 𝜔𝐵 • 𝑣𝑝 = 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
𝐺 Ǘ
{B} + 𝑑𝐵
𝑑Ǘ • The translational velocity
𝑣𝑃 𝐺 Ǘ
𝑑𝐵 is a common property
Br
𝐵 for every point of the body,
Gd 𝜔× 𝑟
B but the rotational
𝐺
P velocity 𝐺𝜔𝐵 × 𝐵 𝑟𝑃 differs
𝐺 for different points of the
𝑑Ǘ 𝐵 Gr
body.

{G} 18
Geometric interpretation
𝐺 𝐺
• 𝑣𝑝 = 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
𝐺 Ǘ
+ 𝑑𝐵
• The translational
𝐺
velocity 𝑑Ǘ 𝐵 is a common
property for every point of
the body, but the rotational
𝐺
velocity 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃
differs for different points of
the body

19
Velocity in
a moving body frame
• Assume a point P is in frame B, represented by a time varying
position vector 𝐵 𝑟𝑃 𝑡
• The global velocity of P is a composition of the velocity of P in
B, rotation of B relative to G, and velocity of B relative to G.
𝐺 𝐺
𝑑 𝐺 𝑑 𝐺 𝐵 𝐺
𝑟𝑃 = 𝑅𝐵 𝑟𝑃 + 𝑑𝐵
𝑑𝑡 𝑑𝑡
𝐺 𝐺 𝐺
𝑑 𝐺 𝐵 𝐺 𝑑 𝐵 𝑑 𝐺
= 𝑅𝐵 𝑟𝑃 + 𝑅𝐵 𝑟𝑃 + 𝑑𝐵
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐺 𝐺 𝐺
= 𝐺 𝜔𝐵 × 𝐵 𝑟𝑃 + 𝐵 𝑟Ǘ𝑃 + 𝑑Ǘ 𝐵
20
Velocity in
a moving body frame
• The global
𝑃
coordinate of the
𝑍 𝐵1
body point P is
𝑋1 𝑌2 𝑟
0
𝑟𝑃 =
0
𝑑1 +
0 0 𝑋2
1 𝑑2 + 2 𝑟𝑃

𝐺 𝑍1
𝑑2
0 0 1 0 2
= 𝑑1 + 𝑅1 𝑑2 + 𝑅2 𝑟𝑃 𝑌1
𝑍2
𝑑1 𝐵2

𝑋 𝑌
21
Velocity in
a moving body frame
• The velocity of point P
0 0 0 1 0 1 0 2
𝑟Ǘ𝑃 = 𝑑Ǘ1 + 𝑅Ǘ 1 𝑑2 + 𝑅1 𝑑Ǘ 2 + 𝑅2 𝑟Ǘ𝑃
0 0 0 0 1 0 0
= 𝑑Ǘ1 + 0 𝜔1 × 1 𝑑2 + 𝑅1 𝑑Ǘ 2 + 0 𝜔2 × 2 𝑟Ǘ𝑃
• It is better to write the equation in the relative velocity
0 0 0 0
expression 0 𝑣𝑃 = 0 𝑣1 + 1 𝑣2 + 2 𝑣𝑃

22

You might also like