Introduction to Robotics

Analysis, Control, Applications

Solution Manual

Saeed B. Niku

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 2

CHAPTER FIVE
Problem 5.1
Suppose the location and orientation of a hand frame are expressed by the following
matrix. What is the effect of a differential rotation of 0.15 radians about the z-axis,
followed by a differential translation of [0.1, 0.1, 0.3]? Find the new location of the hand.

0 0 1 2
1 0 0 7 
R
TH  
0 1 0 5
 
0 0 0 1

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6, 5.7.

Solution:

For  z  0.15, dx  0.1, dy  0.1, dz  0.3, we get:

 0 0.15 0 0.1
0.15 0 0 0.1

 0 0 0 0.3
 
 0 0 0 0
 0 0.15 0 0.1 0 0 1 2   0.15 0 00.95
0.15 0 0 0.1 1 0 0 7   0 0 0.15 0.4 
d  RTH       RTH    
 0 0 0 0.3 0 1 0 5  0 0 0 0.3 
    
 0 0 0 0  0 0 0 1  0 0 0 0 
 0.15 0 1 1.05
 1 0 0.15 7.4 
 RTH    RTH   d  RTH   
new old  0 1 0 5.3 
 
 0 0 0 1 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 3

Problem 5.2
As a result of applying a set of differential motions to frame T shown, it has changed an
amount dT as shown. Find the magnitude of the differential changes made
( dx, dy, dz ,  x,  y,  z ) and the differential operator with respect to frame T.

1 0 0 5  0 0.1 0.1 0.6 

0 0 1 3  0.1 0 0 0.5 
T  dT  
 0 1 0 8  0.1 0 0 0.5
   
0 0 0 1  0 0 0 0 

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8.

Solution:

 dT     T       dT T 
1

 0 0.1 0.1 0.6  1 0 0 5  0 0.1 0.1 0.1
 0.1 0 0 0.5   0  
0 1 8   0.1 0 0 0 
  
 
0.1 0 0 0.5  0 1 0 3  0.1 0 0 0
    
 0 0 0 0  0 0 0 1  0 0 0 0

By inspection: d = [0.1,0,0],  = [0,0.1,0.1].

 dT   T   T     T    T   dT 
1

1 0 0 5  0 0.1 0.1 0.6   0 0.1 0.1 0.6 

0 0  
1 8   0.1 0 0 0.5  0.1 0 0 0.5 
 T     
0 1 0 3  0.1 0 0 0.5 0.1 0 0 0.5 
    
0 0 0 1  0 0 0 0  0 0 0 0 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 4

Problem 5.3
Suppose the following frame was subjected to a differential translation of d  [1 0 0.5]
units and a differential rotation of   [0 0.1 0] .
a. What is the differential operator relative to the reference frame?
b. What is the differential operator relative to the frame A?

0 0 1 10 
1 0 0 5 
A
0 1 0 0
 
0 0 0 1

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8

Solution:
a.
 0 0 0.1 1 
 0 0 0 0 

 0.1 0 0 0.5
 
 0 0 0 0

b.
0 1 0 5   0 0 0.1 1  0 0 1 10 
0 0 1 0   0 0 0 0  1 0 0 5 
     A    A  
A 1

1 0 0 10   0.1 0 0 0.5 0 1 0 0

   
0 0 0 1  0 0 0 0  0 0 0 1
0 0 0 0 
0 0 0.1 0.5
 
0 0.1 0 1 
 
0 0 0 0 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
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 5

Problem 5.4
The initial location and orientation of a robot’s hand are given by T1, and its new location
and orientation after a change are given by T2.
a. Find a transformation matrix Q that will accomplish this transform (in the Universe
frame).
b. Assuming the change is small, find a differential operator  that will do the same.
c. By inspection, find a differential translation and a differential rotation that
constitute this operator.

1 0 0 5 1 0 0.1 4.8
0 0 1 3 0.1 0 1 3.5 
T1   T2  
0 1 0 6 0 1 0 6.2 
   
0 0 0 1 0 0 0 1 

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8

Solution:

a.
1 0 0.1 4.8 1 0 0 5   1 0.1 0 0.1
0.1 0 1 3.5  0 0 1 6   0.1 1 0 0 
T2  QT1  Q  T2T11   
0 1 0 6.2  0 1 0 3 0 0 1 0.2 
    
0 0 0 1  0 0 0 1 0 0 0 1 
b.
T2  T1  dT  T1  T1     I  T1  QT1
Therefore:   Q  I
 0 0.1 0 0.1
 0.1 0 0 0 
or   
0 0 0 0.2 
 
0 0 0 0 
c.
By inspection: d = [0.1, 0, 0.2] and  = [0, 0, 0.1].

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 6

Problem 5.5
Using the transformation matrix for a spherical robot,
a. Differentiate proper elements of the matrix to develop a set of symbolic equations for
the joint differential motions of the robot, and write the corresponding Jacobian. Use the
joint variables in r,  ,  order.

b. For the robot, the three components of the velocity of the hand frame are given. Find
the corresponding three joint velocities at this instant: x  0.05 units/sec, y  0.1 units/sec,
z  0.05 units/sec, r = 5 units,   45 ,   45 .

C   C  S S   C rS   C 
 C   S C S   S rS   S 
T  
 S  0 C rC  
 
 0 0 0 1 

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8

Solution:

We choose the position equations to differentiate and get:

Px  rS   C  dPx  drS  C  rC  d  C  rS  S d 
Py  rS   S  dPy  drS  S  rC  d  S  rS  C d 
Pz  rC   dPz  drC   rS  d 

 dPx   S  C rC  C  rS  S   dr 
 dP    S  S rC  S rS  C   d  
 y   
 dPz   C   rS  0   d  

Substitute
 0.05   0.5 2.5 2.5  dr 
 0.1    0.5 2.5 2.5   d  
    
 0.05 0.707 3.54 0   d  

D   J 1D
 0.5 0.5 0.707   0.05  0.0397 
D   0.1 0.1 0.14   0.1    0.022 
    
 0.2 0.2 0   0.05  0.01 
Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 7

Problem 5.6
The differential motions applied to a frame T1 described as D   dx,  y ,  z  and the
T

resulting T2 positions and orientations of the end of a 3-DOF robot are given. The
Jacobian is given too.
a. Find the original frame T1 before the differential motions were applied to it.
b. Find T  .
c. Is it possible to achieve the same resulting change in T1 by performing the differential
motions relative to the frame?
d. Find the values of the joint differential motions for the three joints (we will call them
ds1 , d 2 , d 3 ) of the robot that caused the given frame change.
 0.03 1 0.02 4.97 
 0.01  1  5 10 0
8.15 
D  0.02  J   3 0 0
0.03 0
T2   
   0 0.02 1 9.9   
 0.03   0 1 1 
 0 0 0 1 

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8

Solution:
a.
dT    T  T2  T1
T2     I   T1
T1     I   T2
1

We form  from D and write:

 1 0.03 0.02 0.01 0 1 0 5

 0.03 1 0 0  1 0 0 8
I    therefore T1   
 0.02 0 1 0  0 0 1 10
   
 0 0 0 1  0 0 0 1

 0 0.03 0 0.15 
 0.03 0 0.02 0.03
b. T   T 1    T   
 0 0.02 0 0.1 
 
 0 0 0 0 
c. No, it will not.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 8

 0 0.333 0  0.01  0.0067 

d. D  JD  0.1 0.167 0  0.02    0.0023

    
 0.1 0.167 1   0.03  0.0323 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 9

Problem 5.7
A 3-DOF robot is shown, with joint variables l2 , 1 , 3 .
a. Write three equations that describe its motions.
 dp x   d1 
b. Find the Jacobian of the robot in dp y   J   dl2  .
 
   
 d   d 3 
c. Find the inverse Jacobian of the robot.

3 

l2

2
l1

1
x

Figure P.5.7.

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.8

Solution:
Px  l1C1  l2C12
Py  l1S1  l2 S12
  1   2  3

dPx  l1S1d1  l2 S12 d1  dl2C12

dPy  l1C1d1  l2C12d1  dl2 S12
d  d1  d 3

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 10

 dPx   l1S1  l2 S12 C12 0  d1 

 dP    l C  l C S12 0  dl2 
 y   1 1 2 12  
 d    1 0 1   d 3 

det J  l1C2  l2
 S12 C12 
 l C  l l1C2  l2
0
 1 2 2 
 l C  l C l1S1  l2 S12 
J 1   1 1 2 12 0
 l1C2  l2 l1C2  l2 
  S12 C12 
 l C  l l1C2  l2
1
 1 2 2 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 11

Problem 5.8
The hand frame of a robot and the corresponding Jacobian are given. For the given
differential changes of the joints, compute the change in the hand frame, its new location,
and the corresponding  .

8 0 0 0 0 0  0 
 3 0 1 0 0 0   0.1 
0 1 0 10    
1 0 0 5   0 10 0 0 0 0  0.1
T6   T6
J   D   
0 0 1 0  0 1 0 0 1 0  0.2 
  0 0 0 1 0
0 0 0 1 0  0.2 
   
 1 0 0 0 0 1  0 

Estimated student time to complete: 30 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:
8 0 0 0 0 0   0   0   T6 dx 
 3 0 1 0 0  
 0   0.1   0.1  T6 dy 
 0 10 0 0 0 0   0.1  1   T6 dz 
 T6 D    T6 J   D       
0 1 0 0 1 0   0.2   0.3   T6 x 
0 0 0 1 0 0   0.2   0.2   T6 y 
      
 1 0 0 0 0 1   0   0   T6 z 

 0 0 0.2 0 
 0 0 0.3 0.1
Substitute in  to get:  
T6 T6 
 0.2 0.3 0 1 
 
 0 0 0 0 
Then
 0 1 0 10   0 0 0.2 0  0 0 0.3 0.1
1 0 0 5   0 0 0.3 0.1  0 0 0.2 0 
dT6  T6   T6      
 0 0 1 0   0.2 0.3 0 1  0.2 0.3 0 1 
    
0 0 0 1   0 0 0 0  0 0 0 0 
0 1 0.3 9.9 
1 0 0.2 5 
T6 new  T6 old   dT6   
0.2 0.3 1 1 
 
0 0 0 1 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 12

0 1 0 10   0 0 0.2 0  0 1 5 
0
1 0 0 5   0 0 0.3 0.1 1 0 0 10 
  T6   T6   T6    
1

0 0 1 0   0.2 0.3 0 1  0 0 1 0 
   
0 0 0 1   0 0 0 0  0 0 0 1 
 0 0 0.3 0.1
 0 0 0.2 0 
 
 0.3 0.2 0 1 
 
 0 0 0 0 

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 13

Problem 5.9
Two consecutive frames describe the old (T1) and new (T2) positions and orientations of
the end of a 3-DOF robot. The corresponding Jacobian relative to T1, relating to
T1
dz , T1 x, T1 z , is also given. Find the values of the joint differential motions ds1 , d 2 , d 3
of the robot that caused the given frame change.
0 0 1 8   0 0.01 1 8.1
1 0 0 5   1  5 10 0 

J   3 0 0 
0.05 0 5
T1    T2    T1

0 1 0 2  0.05 1 0.01 2 
    0 1 1 
0 0 0 1   0 0 0 1

Estimated student time to complete: 30 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:

 0 0.01 0 0.1
 0 0.05 0 0 
T2  T1  dT      T1   T1   T1  
0.05 0 0.01 0 
 
 0 0 0 0
0 1 0 5   0 0.01 0 0.1  0 0.05 0 0
0 0 1  
2   0 0.05 0  
0   0.05 0 0.01 0 
    T1  dT  
1
T1

1 0 0 8   0.05 0 0.01 0   0 0.01 0 0.1
    
0 0 0 1  0 0 0 0  0 0 0 0

 T1 z  0.05  0.1 


Therefore,  T1 x  0.01  T1
D   0.01
 T1
 d z  0.1  0.05
1
And:  T1 D    T1 J   D    D    T J 
1
 T1 D 

See Appendix A for methods to calculate the inverse of a non-unitary matrix. Substitute
to get:

1
 5 10 0   0.1   0.0033 
 D    J   1 D   3 0 0  0.01  0.00833
T1 1 T

 0 1 1   0.05  0.0417 

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 14

Problem 5.10
Two consecutive frames describe the old (T1) and new (T2) positions and orientations of
the end of a 3-DOF robot. The corresponding Jacobian, relating to dz ,  x,  z , is also
given. Find the values of the joint differential motions ds1 , d 2 , d 3 of the robot that
caused the given frame change.

0 0 1 10   0.05 0 1 9.75
1 5 10 0 
0 5   1 0.1 0.05 5.2 
J   3 0 0 
0
T1   T2  
0 1 0 3  0.1 1 0 3.7 
    0 1 1 
0 0 0 1  0 0 0 1 

Estimated student time to complete: 30 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:

 0.05 0 0 0.25
 0 0.1 0.05 0.2 
T2  T1  dT  
 0.1 0 0 0.7 
 
 0 0 0 0 
 0.05 0 0 0.25 0 1 0 5 
 0 0.1 0.05 0.2  0 0 1 3 
    1      1   
1
dT   T    dT T 
0.1 0 0 0.7  1 0 0 10 
  
 0 0 0 0  0 0 0 1 
 0 0.05 0 0 
0.05 0 0.1 0 
 
 0 0.1 0 0.2 
 
 0 0 0 0 

d z  0.2  0.2 

Therefore,  x  0.1  D   0.1 
  0.05  0.05
 z

1
 5 10 0   0.2   0.0334 
Substitute to get:  D    J   D    3 0 0   0.1   0.00334 
1

 0 1 1  0.05  0.0467 

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 15

Problem 5.11
A camera is attached to the hand frame T of a robot as given. The corresponding inverse
Jacobian of the robot at this location is also given. The robot makes a differential motion,
as a result of which the change in the frame dT is recorded as given.
a. Find the new location of the camera after the differential motion.
b. Find the differential operator.
c. Find the joint differential motion values associated with this move.
d. Find how much the differential motions of the hand-frame ( T D ) should have been
instead, if measured relative to frame T, to move the robot to the same new location
as in part a.
1 0 0 0 0 0
 1 0 0 0 
0 1 0 3 2 0  0.03 0 0.1 0.79 
1 0 0 2   0 0.2 0 0 0 0   0 0.03 0 0.09 
T   1
J   dT  
 0 0 1 8   0 1 0 0 1 0   0 0.1 0 0.4 
  0  
0 0 0 1  0 0 1 0 0  0 0 0 0 
 
1 0 0 0 0 1

Estimated student time to complete: 30-40 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:
 0.03 1 0.1 3.79 
 1 0.03 0 2.09 
a. Tnew  Told  dT  
 0 0.1 1 7.6 
 
 0 0 0 1 

b.
 0.03 1 0.1 3.79   0 1 0 2   0 0.03 0.1 0.05
 1 0.03 0    
2.09  1 0 0 3  0.03 0 0 0 
  dT  T 1   
 0 0.1 1 7.6  0 0 1 8   0.1 0 0 0.1
    
 0 0 0 1  0 0 0 1   0 0 0 0 

D   0.05 0 0.1 0 0.1 0.03

T
c.

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 16

1 0 0 0 0 0   0.05 0.05
2 0 1 0 0 0   0   0.2 

 0 0.2 0 0 0 0   0.1  0 
Therefore: D  J 1  D     
 0 1 0 0 1 0   0   0.1 
0 0 0 1 0 0   0.1   0 
    
1 0 0 0 0 1   0.03 0.08

d.

0 1 2   0.03
0 0 0.1 0.79 
1  
0 0 3  0 0.03 0 0.09 
dT  T   
T T
  T  dT  
1

0 0 1 8   0 0.1 0 0.4 
  
0 0 0 1  0 0 0 0 
 0 0.03 0 0.09 
 0.03 0 0.1 0.79 
 
 0 0.1 0 0.4 
 
 0 0 0 0 

D   0.09 0.79 0.4 0.1 0 0.03

T T

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 17

Problem 5.12
A camera is attached to the hand frame T of a robot as given. The corresponding inverse
Jacobian of the robot relative to the frame at this location is also given. The robot makes
a differential motion, as a result of which the change dT in the frame is recorded as given.
a. Find the new location of the camera after the differential motion.
b. Find the differential operator.
c. Find the joint differential motion values D associated with this move.
1 0 0 0 0 0
2 1 0
0 1 0 3

0 0 0
  0.02 0 0.1 0.7 
1 0 0 2  0 0.1 0 0 0 0  0 0.02 0 0.08 
T   T 1
J   dT   
0 0 1 8  0 1 0 0 1 0  0 0.1 0 0.3
  0  
0 0 0 1 0 0 1 0 0  0 0 0 0 
 
1 0 0 0 0 1

Estimated student time to complete: 30-40 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:

a.

 0.02 1 0.1 3.7 

 1 0.02 0 2.08
Tnew  Told  dT  
 0 0.1 1 7.7 
 
 0 0 0 1 

b.

 0.02 0 0.1 0.7  0 1 0 2   0 0.02 0.1 0.06 

 0 0.02 0 0.08  1  
0 0 3 0.02 0 0 0.02 
  dT  T 1   
 0 0.1 0 0.3 0 0 1 8   0.1 0 0 0 
    
 0 0 0 0  0 0 0 1  0 0 0 0 

c.

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 18

T
  T 1    T   T 1   dT  
0 1 0 2   0.02 0 0.1 0.7   0 0.02 0 0.08
1 0 0 3  0 0.02 0 0.08   0.02 0 0.1 0.7 
 
0 0 1 8   0 0.1 0 0.3  0 0.1 0 0.3 
    
0 0 0 1  0 0 0 0   0 0 0 0 

Therefore: T D   0.08 0.7 0.3 0.1 0 0.02

T

1 0 0 0 0 0   0.08   0.08 
2 0 1 0 0 0   0.7   0.14 

 0 0.1 0 0 0 0   0.3   0.07 
T
D  T J  D  D  T J 1  T D     
 0 1 0 0 1 0   0.1   0.7 
0 0 0 1 0 0   0   0.1 
    
1 0 0 0 0 1   0.02   0.06 

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 19

Problem 5.13
A camera is attached to the hand frame T6 of a robot as given. The corresponding
inverse Jacobian of the robot relative to the frame at this location is also given. The
robot makes a differential motion, as a result of which the change dT in the frame is
recorded as given. You must show all your work.

d. Find the new location of the camera after the differential motion.
e. Find the differential operator.
f. Find the joint differential motion values D associated with this move.

1 0 0 0 0 0
2 1 0
0 1 0 2

0 0 0
  0.02 0 0.1 0.8 
1 0 0 4  0 0.1 0 0 0 0  0 0.02 0 0.05 
T6    T
6
J 1    dT   
0 0 1 6 
 0 1 0  0.1 0.3
6
0 1 0 0 0

0  0 0
 0 
 0 0 1 0 0 1 0  0 0 0 
 
1 0 0 0 0 1

Estimated student time to complete: 30-40 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:

 0.02 1 0.1 2.8 

 1 0.02 0 4.05
a. Tnew  Told  dT   
 0 0.1 1 5.7 
 
 0 0 0 1 

b.

0 1 0 4   0.02 0 0.1 0.8   0 0.02 0 0.05

1 0 0 2   0 0.02 0 0.05   0.02 0 0.1 0.8 
T6
  T6  dT6  
1   
0 0 1 6   0 0.1 0 0.3  0 0.1 0 0.3 
    
0 0 0 1  0 0 0 0   0 0 0 0 

D   0.05 0.8 0.3 0.1 0 0.02

T T
c.

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 20

1 0 0 0 0 0  0.05   0.05 
2 0 1 0 0 0  0.8   0.2 
    
 0 0.1 0 0 0 0  0.3   0.08
D     
 0 1 0 0 1 0  0.1   0.8 
0 0 0 1 0 0  0   0.1 
    
1 0 0 0 0 1  0.02   0.03 

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 21

Problem 5.14
The Jacobian of a robot at a particular time is given. Calculate the linear and angular
differential motions of the robot’s hand frame for the given joint differential motions.

 2 0 0 0 1 0  0 
 1 0 1 0 0 0   0.1
   
 0 1 0 0 0 0  0.1 
J   D   
 0 0 0 2 0 0  0 
 0 0 1 0 0 0  0 
   
 0 0 0 0 0 1  0.02 
Estimated student time to complete: 10 minutes
Prerequisite knowledge required: Text Section(s) 5.10

Solution:
Substituting the above matrices into Equation Error! Reference source not found., we
get:

2 0 0 0 1 0  0   0   dx 
 1 0 1 0 0 0  0.1  0.1   dy 
      
0 1 0 0 0 0  0.1   0.1  dz 
 D    J  D       
0 0 0 2 0 0  0   0   x 
0 0 1 0 0 0  0   0.1   y 
      
0 0 0 0 0 1 0.02  0.02    z 

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 22

Problem 5.15
The hand frame TH of a robot is given. The corresponding inverse Jacobian of the robot at
this location relative to this frame is also shown. The robot makes a differential motion
relative to this frame, described as TH D   0.05 0 0.1 0 0.1 0.1 .
T

a. Find which joints must make a differential motion, and by how much, in order to
create the indicated differential motions.
b. Find the change in the frame.
c. Find the new location of the frame after the differential motion.
d. Find how much the differential motions (given) should have been, if measured
relative to the Universe, to move the robot to the same new location as in part c.
5 0 0 0 0 0
 1 0 0 0 
 0 1 0 3 2 0
 1 0 0 3  0 0.2 0 0 0 0 
TH    TH 1
J  
 0 0 1 8   0 1 0 0 1 0 
  0
0 0 0 1 0 0 1 0 0
 
1 0 0 0 0 1

Estimated student time to complete: 30 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:
a.

5 0 0 0 0 0   0.05 0.25
2 0 1 0 0 0   0   0.2 

1  0 0.2 0 0 0 0   0.1  0 
 D    TH J   TH D      
 0 1 0 0 1 0  0   0.1 
0 0 0 1 0 0   0.1   0 
    
1 0 0 0 0 1   0.1  0.15
Therefore, joints 1, 2, 4, and 6 must move as shown.

b. Substituting values from TH

D to form TH
 , we get:

0 1 0 3  0 0.1 0.1 0.05 0.1 0 0 0 

1 0 0 3  0.1 0 0 0   0 0.1 0.1 0.05
dT  TH  TH    
0 0 1 8  0.1 0 0 0.1 0.1 0 0 0.1 
    
0 0 0 1  0 0 0 0  0 0 0 0 
c.

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0 1 0 3  0.1 0 0 0  0.1 1 0 3 
1 0 0 3  0 0.1 0.1 0.05   1 0.1 0.1 3.05
TH new  TH old  dT     
0 0 1 8 0.1 0 0 0.1  0.1 0 1 8.1 
     
0 0 0 1  0 0 0 0  0 0 0 1 

d.

dT  TH  TH     TH
0.1 0 0 0  0 1 3  0
0 0.1 0 0.3
 0 0.1 0.1 0.05 1 0 0 3  0.1 0 0.1 1.15 
 
  dT  TH 1    
0.1 0 0 0.1   0 0 1 8   0 0.1 0 0.2 
    
0 0 0 0  0 0 0 1  0 0 0 0 

Therefore, D   0.3 1.15 0.2 0.1 0 0.1

T

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Problem 5.16
The hand frame T of a robot is given. The corresponding inverse Jacobian of the robot at
this location is also shown. The robot makes a differential motion described as
D   0.05 0 0.1 0 0.1 0.1 .
T

a. Find which joints must make a differential motion, and by how much, in order to
create the indicated differential motions.
b. Find the change in the frame.
c. Find the new location of the frame after the differential motion.
d. Find how much the differential motions (given above) should have been, if
measured relative to frame T, to move the robot to the same new location as in part c.

5 0 0 0 0 0
2 1 0 
0 1 0 3  0 0 0
1 0 0 3  0 0.2 0 0 0 0
T  J 1   
0 0 1 8  0 1 0 0 1 0
  0
0 0 0 1 0 0 1 0 0
 
1 0 0 0 0 1

Estimated student time to complete: 30 minutes

Prerequisite knowledge required: Text Section(s) 5.6-5.11

Solution:

a.

5 0 0 0 0 0   0.05 0.25
2 0 1 0 0 0   0   0.2 

 0 0.2 0 0 0 0   0.1  0 
D  J 1  D     
 0 1 0 0 1 0   0   0.1 
0 0 0 1 0 0   0.1   0 
    
1 0 0 0 0 1   0.1  0.15

Therefore, joints 1, 2, 4, and 6 must move as shown.

b. Using D given above to form  ,

 0 0.1 0.1 0.05  0 1 0 3  0.1 0 0.1 0.55 

 0.1 0 0 0  1 0 0  
3  0 0.1 0 0.3 
dT    T   
 0.1 0 0 0.1  0 0 1 8  0 0.1 0 0.4 
    
 0 0 0 0  0 0 0 1  0 0 0 0 
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 25

c.
 0.1 1 0.1 3.55
 1 0.1 0 3.3 
Tnew  Told  dT  
 0 0.1 1 7.6 
 
 0 0 0 1 

d.

0 1 3  0.1 0
0 0.1 0.55 
1  
0 0 3   0 0.1 0 0.3 
T
  T    T   T   dT   
 1
  1

0 0 1 8   0 0.1 0 0.4 
  
0 0 0 1  0 0 0 0 
 0 0.1 0 0.3 
 0.1 0 0.1 0.55
 
 0 0.1 0 0.4 
 
 0 0 0 0 

The differential motions should have been:

T
D   0.3 0.55 0.4 0.1 0 0.1

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 26

Problem 5.17
Calculate the T6 J 21 element of the Jacobian for the revolute robot from Example 2.26.

Estimated student time to complete: 20 minutes

Prerequisite knowledge required: Text Section(s) 5.10

Solution:

The robot has 6 revolute joints. From Equation 5.26:

T6
J 2i   ox p y  o y px  where for i=1 we use oT6  A1 A2 A3 A4 A5 A6 given in Equation 2.59.
Substitute to get:

T6
J 21   C1 (C234C5C6  S234C6 )  S1S5 S6    S1 (C234 a4  C23 a3  C2 a2 ) 
  S1 (C234C5C6  S234C6 )  C1S5 S6   C1 (C234 a4  C23 a3  C2 a2 ) 

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Problem 5.18
Calculate the T6 J16 element of the Jacobian for the revolute robot from Example 2.26.

Estimated student time to complete: 20 minutes

Prerequisite knowledge required: Text Section(s) 5.10

Solution:

The robot has 6 revolute joints. From Equation 5.26:

T6
J1i   nx p y  n y px  where for i=6 we use 5T6  A6 given in Equation 2.57. Substitute
to get:

T6
J 21    C6  0     S6  0    0

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 28

Problem 5.19
Using Equation (2.34), differentiate proper elements of the matrix to develop a set of
symbolic equations for the joint differential motions of a cylindrical robot, and write the
corresponding Jacobian.

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section(s) 5.10-5.11

Solution:

For a cylindrical coordinate (without additional rotation) there can only be 3 variables.
The Jacobian will be a 3  3 matrix.

C  S
0 rC 
 S0 rS 
C
Tcyl (r ,  , l )  
 0 1 0l 
 
 0 0 01 
 px  rC dpx  drC  rS d
 
Then  p y  rS and dp y  drS  rC d
 
 pz  l dpz  dl

 dpx  C  rS 0   dr 

Therefore,  dp y    S rC 0   d 
 dpz   0 0 1   dl 

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 29

Problem 5.20
Using Equation (2.37), differentiate the proper elements of the matrix to develop a set of
symbolic equations for the joint differential motions of a spherical robot, and write the
corresponding Jacobian.

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section(s) 5.10-5.11

Solution:

For a spherical coordinate (without additional rotation) there can only be 3 variables. The
Jacobian will be a 3  3 matrix.

 C  C  S S  C rS  C 
 C  S C S  S rS  S 
Tsph (r ,  ,  )  
 S  0 C rC  
 
 0 0 0 1 

 px  rS  .C dpx  drS  .C  rC  .C d   rS  .S  d 

 
Then  p y  rS  .S and dp y  drS  .S   rC  .S d   rS  .C d 
 
 pz  rC  dpz  drC   rS  d 

 dpx   S  .C rC  .C  rS  .S    dr 

Therefore,  dp y    S  .S  rC  .S  rS  .C   d  
 dpz   C  rS  0   d  

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Problem 5.21
For a cylindrical robot, the three joint velocities are given for a corresponding location.
Find the three components of the velocity of the hand frame.
r =0.1 in/sec,  =0.05 rad/sec, l =0.2 in/sec, r=15 in,   30 , l=10 in.

Estimated student time to complete: 10 or 20 minutes

Prerequisite knowledge required: Text Section(s) 5.10-5.11

Solution:

Referring to the solution of Problem 5.19, and dividing both sides by dt, substitute the
given values into the equation to get:

 p x  C  rS 0   r   0.866 7.5 0   0.1   0.288

 p    S rC 0      0.5 13 0  0.05   0.7  in/sec
 y 
 p z   0 0 1   l   0 0 1   0.2   0.2 

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 31

Problem 5.22
For a spherical robot, the three joint velocities are given for a corresponding location.
Find the three components of the velocity of the hand frame.
r =2 in/sec,  =0.05 rad/sec,  =0.1 rad/sec, r=20 in,   60 ,   30 .

Estimated student time to complete: 10 or 20 minutes

Prerequisite knowledge required: Text Section(s) 5.10-5.11

Solution:

Referring to the solution of Problem 5.20, and dividing both sides by dt, substitute the
given values into the equation to get:

 p x   S  C rC  C rS  S    r   0.75 8.66 8.66   2  1.067 

 p    S  S  rC  S      
rS  C       0.433 5 15  0.05   2.616 
 y 
 p z   C   rS  0      0.5 17.32 0   0.1   0.134 

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 32

Problem 5.23

For a spherical robot, the three joint velocities are given for a corresponding location.
Find the three components of the velocity of the hand frame.
r =1 unit/sec,  =1 rad/sec,  =1 rad/sec, r=5 units,   45 ,   45 .

Estimated student time to complete: 10 or 20 minutes

Prerequisite knowledge required: Text Section(s) 5.10-5.11

Solution:

Referring to the solution of Problem 5.20, and dividing both sides by dt, substitute the
given values into the equation to get:

 p x   S  C rC  C  rS  S    r   0.5 2.5 3.535 1  0.535

 p    S  S  rC  S     
rS  C       0.5 2.5 3.535  1   6.535 
 y 
 p z   C   rS  0     0.707 3.535 0  1  2.828

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 33

Problem 5.24

For a cylindrical robot, the three components of the velocity of the hand frame are given
for a corresponding location. Find the required three joint velocities that will generate the
given hand frame velocity.
x  1 in/sec, y  3 in/sec, z  5 in/sec,   45 , r  20 in, l  25 in

Estimated student time to complete: 10 or 25 minutes

Prerequisite knowledge required: Text Section(s) 5.12

Solution:

Referring to the solution of Problem 5.19, substitute to get:

 p x  C  rS 0   r   1  0.707 14.14 0   r 

 p    S rC 0      2   0.707 14.14 0   
  
 y 
 p z   0 0 1   l   3   0 0 1   l 

0.707 r  14.14  1 r  2.83 in/sec

 
0.707 r  14.14  3   =0.071 /sec


 
l  5 l  5 in/sec

Note that this problem could have been solved by calculating the inverse of the Jacobian
as well.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 34

Problem 5.25
For a spherical robot, the three components of the velocity of the hand frame are given
for a corresponding location. Find the required three joint velocities that will generate the
given hand frame velocity.

x  5 in/sec, y  9 in/sec, z  6 in/sec,   60 , r  20 in,  =30

Estimated student time to complete: 15 or 30 minutes

Prerequisite knowledge required: Text Section(s) 5.12

Solution:

Referring to the solution of Problem 5.20, substitute to get:

 p x   S  C rC  C rS  S    r  5   0.75 8.66 8.66   r 

 p    S  S  rC  S       
rS  C      9   0.433 5 15   
 y 
 p z   C   rS  0     6   0.5 17.32 0   l 

0.75r  8.66   8.66  5 r  10.647 in/sec

 
0.433r  5  15  9    =  0.039  /sec
     0.306  /sec
0.5r  17.32   6 

Note that this problem could have been solved by calculating the inverse of the Jacobian
as well.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 35

Problem 5.26

Calculate the Jacobian of the 3-DOF robot shown. The intermediate reference frame is
placed at joint 2.

l1 l3

y
ŝ3
l2 2 3
x

1
ŝ1 ŝ2

Figure P.5.26

Estimated student time to complete: 30-45 minutes

Prerequisite knowledge required: Text Section(s) 5.13

Solution:

The parameters table and the A matrices are:

#  d a 
0-1 1 0 l1 -90
1-2 90   2 l2 0 -90
2-H 90  3 l3 0 0

C1 0  S1 l1C1   C2 0  S2 0 C3  S3 0 0

S 0 C1 l1S1  S 0 C2 0 S C3 0 0
A1   1  A2   2  A3   3 
0 1 0 0  0 1 0 l2  0 1 1 l3 
     
0 0 0 1  0 0 0 1 0 0 0 1

Joint 2: i  2, n  2 . Since i and n are equal, we use Equation

Error! Reference source not found.:

sˆ2   0,0,1 and OS 2  0,0,0

T T

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 36

i 0
j k
Since this is a revolute joint: OS 2  sˆ2  0 0 0  0
 
0 0 1 0

Joint 3: i  3, n  2 . Since this joint is forward of the reference frame, we use

Equation Error! Reference source not found..

 0   C2 0  S2  0    S2 
sˆ3  R2 0   S2
1
0 C 2   0    C2 
      
1   0 1 0  1   0 
r 2   0  l2 0
T
(see parameters table)
 0   C2 0  S2   0   0 
OS 3  OS 2  1R2 r2  0   S2 0 C2    l2    0 
      
0  0 1 0   0   l2 

i j k   l2 C 2 
Since this is a revolute joint: OS 3  sˆ3  0 0 l2    l 2 S 2 
 
 S2 C2 0  0 

Joint 1: i  1, n  2 . Since this joint is forward of the reference frame, we use

Equation Error! Reference source not found..

0  C1 S1 0  0  0 
sˆ1  R0 0   0
1
0 1 0   1
      
1    S1 C1 0  1   0 
r1  l1 0 0
T
(see parameters table)
 l1 
OS 1  OS 2  R1r1   0 
1
 
 0 

i j 0k
Since this is a revolute joint: OS 1  sˆ1  l1 0 0  0
 
0 1 0  l1 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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 37

0 0  S2 
 1 0 C2 
 
0 1 0 
2
J  
0 0  l2 C 2 
0 0  l2 S 2 
 
 l1 0 0 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 38

Problem 5.27

For the robot from Problem 5.26, derive the direct joint velocity relationships.

Estimated student time to complete: 20-30 minutes if 5.26 is solved.

Prerequisite knowledge required: Text Section(s) 5.13 and 5.14

Solution:

Using the Jacobian of Problem 5.26, we write:

 2x   0 0  S2 
 2   1 0 C2  
 y     
 2z   0 1 0   1 
2    2 
 v x   0 0 l2C2   
 2 v y   0 0  l2 S 2   3 
2   
 vz   l1 0 0 

2
x   S23
2
 y  1  C23
2
z  2
2
v x  l2C23
2
v  l S 
y 2 2 3
2
vz  l11

Since we only have 3 DOF we cannot specify more than three desired speeds. These 6
equations can be used to calculate each joint velocity.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 39

Problem 5.28

Derive the Jacobian of a 3RPR robot shown.

O3

d3 o

A3
c3
c2 n
c3 c2 A2 c1

y c1 (b)

P A1
d2
d1

O O2
x

Figure P.5.28.

Estimated student time to complete: 30-45 min.

Prerequisite knowledge required: Text Section 5.15

Solution:

Loop equations and their derivatives:

P  ci  d i
P    ci  di  d  d i

To eliminate the unwanted d we take the dot product of the equation by the unit vector
dˆ :
i

dˆi  VP  dˆi    ci  dˆi  di  dˆi  d  d i

Rearranging:

 
dˆi  VP    ci  dˆi  di

Expanding this equation yields the velocity relationship and the Jacobian as:

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 40

 d1 x d1 y c1 y d1z  c1z d1 y  Vx   d1 

   
d 2 x d2 y  c1 x d1z  c1z d1 x  V y    d2 
 
 d 3 x d3 y c1 x d1 y  c1 y d1 x      d3 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

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