Robotics

Jacobian Derivation
DR. ABHISHEK SARKAR
MECHANICAL ENGINEERING
BITS HYDERABAD
 Angular Velocity
• Angular velocities can be added as free vectors, provided that
they are expressed relative to a common coordinate frame.
• Thus we can determine the angular velocity of the end-
effector relative to the base by expressing the angular velocity
contributed by each joint in the orientation of the base frame
and then summing these.

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 Angular Velocity
• If the i-th joint is revolute, then the i-th joint variable qi equals
θi and the axis of rotation is zi−1.
𝑖−1
• 𝜔𝑖 represent the angular velocity of link {i} that is
imparted by the rotation of joint i, expressed relative to frame
{i − 1}.
𝑖−1 ̰ where 𝑘
̰= 001 𝑇
𝜔𝑖 = 𝑞Ǘ 𝑖 𝑧𝑖−1 = 𝑞Ǘ 𝑖 𝑘

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 Angular Velocity
• If the i-th joint is prismatic, then the motion of frame {i}
𝑖−1
relative to frame {i − 1} is a translation and 𝜔𝑖 = 0.
• The angular velocity of the end-effector does not depend on
qi, which now equals di.

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 Angular Velocity
• Therefore, the overall angular velocity of the end-effector,
0
𝜔𝑛 , in the base frame is determined by
0 ̰ + 𝜌2 𝑞Ǘ 2 0 𝑅1 𝑘+.
̰ . . +𝜌𝑛 𝑞Ǘ 𝑛 0 ̰
𝜔𝑛 = 𝜌1 𝑞Ǘ 1 𝑘 𝑅𝑛−1 𝑘
0
= σ𝑛𝑖−1 𝜌𝑖 𝑞Ǘ 𝑖 𝑧𝑖−1
in which ρi = 1 if joint i is revolute and
= 0 if joint i is prismatic.

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 Angular Velocity
• The lower half of the Jacobian Jω is thus given as
𝐽𝜔 = 𝜌1 𝑧0 . . . 𝜌𝑛 𝑧𝑛−1
• since the superscripts for the unit vectors along the z-axes are
all referenced to the world frame, they are omitted.

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 Linear Velocity
0
• The linear velocity of the end-effector is just 𝑜Ǘ𝑛 .
• By the chain rule for differentiation
𝑛 0
0 𝜕 𝑜𝑛
𝑜Ǘ 𝑛 = ෍ 𝑞Ǘ𝑖
𝜕𝑞𝑖
𝑖=1
• Thus we see that the i-th column of Jv, which we denote as Jvi
is given by
0
𝜕 𝑜𝑛
𝐽𝑣𝑖 =
8 𝜕𝑞𝑖
 Case 1: Prismatic Joints
• If joint i is prismatic, then it imparts a pure translation to the
end-effector.
0
• Lets write 𝑇𝑛 as the product of three transformations as
follows

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 Case 1: Prismatic Joints
• Which gives
0
• If only joint i is allowed to move, then both of 𝑖 𝑜𝑛 and 𝑜𝑖−1
are constant
• If joint i is prismatic, then it imparts a pure translation to the
end-effector (the rotation matrix 0 𝑅𝑖−1 is also constant ).
𝑖−1
• By the DH convention, 𝑜𝑖 = 𝑎𝑖 𝑐𝑖 , 𝑎𝑖 𝑠𝑖 , 𝑑𝑖 𝑇 .

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 Case 1: Prismatic Joints
0
• Thus, differentiation of 𝑜𝑛 gives

• in which di is the joint variable for prismatic joint i.

• Thus, for the case of prismatic joints we have 𝐽𝑣𝑖 = 𝑧𝑖−1 .
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 Case 2: Revolute Joints
• If joint i is revolute, then we have qi = θi.
• Starting with
• Since 0Ri is not constant with respect to θi, we obtain

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 Case 2: Revolute Joints
• The highlighted second term is derived as follows:

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 Case 2: Revolute Joints
• Thus for a revolute joint

• in which the zero superscripts are

omitted .

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 Angular and Linear Jacobians
• We have derived the position Jacobian 𝐽𝑣 = 𝐽𝑣1 𝐽𝑣2 . . . 𝐽𝑣𝑛

𝑧𝑖−1 × 𝑜𝑛 − 𝑜𝑖−1 , for revolute joint

Where 𝐽𝑣𝑖 = ቊ
𝑧𝑖−1 , for prismatic joint

• Similarly, the orientation Jacboian is 𝐽𝜔 = 𝐽𝜔1 𝐽𝜔2 . . . 𝐽𝜔𝑛

𝑧𝑖−1 , for revolute joint

Where 𝐽𝜔𝑖 = ቊ
0, for prismatic joint

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 Angular and Linear Jacobians
• The above formulae make the determination of the Jacobian
of any manipulator simple since all of the quantities needed
are available once the forward kinematics are worked out.
• Indeed the only quantities needed to compute the Jacobian
are the unit vectors zi and the coordinates of the origins
o1,…, on.

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 Angular and Linear Jacobians
• A moment’s reflection shows that the coordinates for zi with
respect to the base frame are given by the first three elements
in the third column of 0Ti while
• oi is given by the first three elements of the fourth column of
0T .
i
• Thus only the third and fourth columns of the T matrices are
needed in order to evaluate the Jacobian according to the
above formulas.
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 2R Planar Manipulator
𝑧0 × 𝑜2 − 𝑜0 𝑧1 × 𝑜2 − 𝑜1
• Jacobian Matrix is 𝐽𝑞 =
𝑧0 𝑧1

0 𝑙1 𝑐𝑜𝑠𝜃1
𝑜0 = 0 𝑜1 = 𝑙1 𝑠𝑖𝑛𝜃1
0 0

𝑙1 𝑐𝑜𝑠𝜃1 + 𝑙2 𝑐𝑜𝑠 𝜃1 + 𝜃2
𝑜2 = 𝑙1 𝑠𝑖𝑛𝜃1 + 𝑙2 𝑠𝑖𝑛 𝜃1 + 𝜃2
0

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 2R Planar Manipulator
0
• and 𝑧0 = 𝑧1 = 0
1

• So, 𝐽𝑞 =. . .

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 SCARA
• Jacobian matrix is
𝑍1 𝑍0
𝑧0 × 𝑜4 − 𝑜0 𝑧1 × 𝑜4 − 𝑜1 𝑧2 0
𝐽𝑞 =
𝑧0 𝑧1 0 𝑧3

𝑋0 • where
𝑍2 𝑍3 0 0
𝑧0 = 𝑧1 = 0 𝑧2 = 𝑧3 = 0
𝜃1
𝑍4 𝜃2 1 −1
𝑟

21 𝑌0
 SCARA
𝑙1 𝑐𝑜𝑠𝜃1
𝑜1 = 𝑙1 𝑠𝑖𝑛𝜃1
𝑍1 𝑍0 𝑑1

𝑙1 𝑐𝑜𝑠𝜃1 + 𝑙2 𝑐𝑜𝑠 𝜃1 + 𝜃2
𝑜2 = 𝑙1 𝑠𝑖𝑛𝜃1 + 𝑙2 𝑠𝑖𝑛 𝜃1 + 𝜃2
𝑑1
𝑋0
𝑍2 𝑍3
𝑙1 𝑐𝑜𝑠𝜃1 + 𝑙2 𝑐𝑜𝑠 𝜃1 + 𝜃2
𝜃1 𝑜3 = 𝑜4 = 𝑙1 𝑠𝑖𝑛𝜃1 + 𝑙2 𝑠𝑖𝑛 𝜃1 + 𝜃2
𝑍4 𝜃2
𝑟 𝑑1 − 𝑑4

22 𝑌0
 𝑍5 𝑍4
𝑍3
Stanford
𝑍2
𝑍1
• Derivation of Jacobian for first
𝑍0 three joints
0 −𝑠𝜃1
𝑧0 = 0 𝑧1 = 𝑐𝜃1
1 1

−𝑐𝜃1 𝑠𝜃2
𝑧2 = 𝑧3 = −𝑠𝜃1 2𝜃2
𝑐𝜃2

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 𝑍5 𝑍4
𝑍3
Stanford
𝑍2
𝑍1
• The jacobian can be derived as
𝑍0

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 Jacobian for an Arbitrary Point
• Compute the linear velocity v and the angular velocity ω of
the center of link 2

𝑂𝑐

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