Field of Engineering

Computer and mechatronics Program

Lecture : (Velocity Kinematics )

Dr : (Dr Ayman Elshabrawy) Date : 12 / 11 / 2024

Velocity Kinematics
• The forward kinematics can be written as (from the pervious Lecture)
𝑥𝑥(𝑡𝑡) = 𝑓𝑓(𝜃𝜃(𝑡𝑡))

• By the chain rule, the time derivative at time 𝑡𝑡 is

𝜕𝜕𝜕𝜕(𝜃𝜃) 𝑑𝑑𝑑𝑑(𝑡𝑡) 𝜕𝜕𝜕𝜕(𝜃𝜃)
𝑥𝑥˙ = = 𝜃𝜃˙
𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕
= 𝐽𝐽(𝜃𝜃)𝜃𝜃˙

• where 𝐽𝐽(𝜃𝜃) ∈ ℝ𝑚𝑚×𝑛𝑛 is called the Jacobian

• The Jacobian matrix represents the linear end-effector velocity 𝑥𝑥˙ to the joint
˙ and it is a function of the joint variables 𝜃𝜃.
velocity 𝜃𝜃,
Example

• Consider a 2 R planar Mainpulator in Figuer shown

• Forward kinematics given by
𝑥𝑥1 = 𝐿𝐿1 cos 𝜃𝜃1 + 𝐿𝐿2 cos 𝜃𝜃1 + 𝜃𝜃2
𝑥𝑥2 = 𝐿𝐿1 sin 𝜃𝜃1 + 𝐿𝐿2 sin 𝜃𝜃1 + 𝜃𝜃2 .
• Differentiating both sides with respect to time yields
𝑥𝑥˙ 1 = −𝐿𝐿1 𝜃𝜃˙1 sin 𝜃𝜃1 − 𝐿𝐿2 𝜃𝜃˙1 + 𝜃𝜃˙2 sin 𝜃𝜃1 + 𝜃𝜃2
𝑥𝑥˙ 2 = 𝐿𝐿1 𝜃𝜃˙1 cos 𝜃𝜃1 + 𝐿𝐿2 𝜃𝜃˙1 + 𝜃𝜃˙2 cos 𝜃𝜃1 + 𝜃𝜃2
Example
• Can be rearranged into an equation of the form 𝑥𝑥˙ = 𝐽𝐽(𝜃𝜃)𝜃𝜃˙ :
𝑥𝑥˙ 1 −𝐿𝐿1 sin 𝜃𝜃1 − 𝐿𝐿2 sin 𝜃𝜃1 + 𝜃𝜃2 −𝐿𝐿2 sin 𝜃𝜃1 + 𝜃𝜃2 𝜃𝜃˙1
=
𝑥𝑥˙ 2 𝐿𝐿1 cos 𝜃𝜃1 + 𝐿𝐿2 cos 𝜃𝜃1 + 𝜃𝜃2 𝐿𝐿2 cos 𝜃𝜃1 + 𝜃𝜃2 𝜃𝜃˙2
• Writing the two columns of 𝐽𝐽(𝜃𝜃) as 𝐽𝐽1 (𝜃𝜃) and 𝐽𝐽2 (𝜃𝜃), and the tip
velocity 𝑥𝑥˙ as 𝑣𝑣tip , Equation becomes

𝑣𝑣tip = 𝐽𝐽1 (𝜃𝜃)𝜃𝜃˙1 + 𝐽𝐽2 (𝜃𝜃)𝜃𝜃˙2

Mapping the set of possible joint velocities, represented as a square in the 𝜃𝜃˙1 −
𝜃𝜃˙2 space, through the Jacobian to find the parallelogram of possible end-
effector velocities. The extreme points A, B, C, and D in the joint velocity space
map to the extreme points A, B, C, and D in the end-effector velocity space.
• As long as 𝐽𝐽1 (𝜃𝜃) and 𝐽𝐽2 (𝜃𝜃) are not collinear, it is possible to
generate a tip velocity 𝑣𝑣tip in any arbitrary direction
• Is there are any configurations at which 𝐽𝐽1 (𝜃𝜃) and 𝐽𝐽2 (𝜃𝜃) become
collinear ?
• Yes: if 𝜃𝜃2 is 0∘ or 180∘ then, regardless of the value of 𝜃𝜃1 , 𝐽𝐽1 (𝜃𝜃) and
𝐽𝐽2 (𝜃𝜃) will be collinear and the Jacobian 𝐽𝐽(𝜃𝜃) becomes a singular
matrix
• Such configurations are therefore called singularities
• Now let's substitute 𝑳𝑳𝟏𝟏 = 𝑳𝑳𝟐𝟐 = 𝟏𝟏 and consider the robot at two
different nonsingular postures: 𝜽𝜽 = (𝟎𝟎, 𝝅𝝅/𝟒𝟒) and 𝜽𝜽 = (𝟎𝟎, 𝟑𝟑𝟑𝟑/𝟒𝟒). The
Jacobians 𝑱𝑱(𝜽𝜽) at these two configurations are

𝟎𝟎 −𝟎𝟎. 𝟕𝟕𝟕𝟕 −𝟎𝟎. 𝟕𝟕𝟕𝟕 𝟎𝟎 −𝟎𝟎. 𝟕𝟕𝟕𝟕 −𝟎𝟎. 𝟕𝟕𝟕𝟕

𝑱𝑱 = and 𝑱𝑱 = .
𝝅𝝅/𝟒𝟒 𝟏𝟏. 𝟕𝟕𝟕𝟕 𝟎𝟎. 𝟕𝟕𝟕𝟕 𝟑𝟑𝟑𝟑/𝟒𝟒 𝟎𝟎. 𝟐𝟐𝟐𝟐 −𝟎𝟎. 𝟕𝟕𝟕𝟕
Manipulability ellipsoids
Using the manipulability ellipsoid one can
quantify how close a given posture is to a
singularity.
we can compare the lengths of the major
and minor principal semi-axes of the
manipulability ellipsoid, respectively
denoted ℓmax and ℓmin . The closer the
ellipsoid is to a circle, i.e., the closer the
ratio ℓmax /ℓmin is to 1 , the more easily can
the tip move in arbitrary directions and
thus the more removed it is from a
singularity.
Joint torques to Tip force
The Jacobian also plays a central role in static analysis. Suppose that an
external force is applied to the robot tip. What are the joint torques required to
resist this external force?

Consider a linear force f acting on a rigid body at a point r . Defining a reference

frame {a}, the point r can be represented as 𝑟𝑟𝑎𝑎 ∈ ℝ3 and the force f can be
represented as 𝑓𝑓𝑎𝑎 ∈ ℝ3 . This force creates a torque or moment 𝑚𝑚𝑎𝑎 ∈ ℝ3 in the
{a} frame:
𝑚𝑚𝑎𝑎 = 𝑟𝑟𝑎𝑎 × 𝑓𝑓𝑎𝑎

Just as with twists, we can merge the moment and force into a single six-
dimensional spatial force, or wrench, expressed in the {a} frame, ℱ𝑎𝑎 :
𝑚𝑚𝑎𝑎
ℱ𝑎𝑎 = 𝑓𝑓 ∈ ℝ6
𝑎𝑎
Joint torques to Tip force
• Denoting the tip force vector generated by the robot as 𝑓𝑓tip and the joint
torque vector by 𝜏𝜏, the conservation of power then requires that
T
𝑓𝑓tip 𝑣𝑣tip = 𝜏𝜏 T 𝜃𝜃˙

˙ Since 𝑣𝑣
• For all arbitrary joint velocities 𝜃𝜃. ˙
tip = 𝐽𝐽(𝜃𝜃)𝜃𝜃, the equality
T
𝑓𝑓tip 𝐽𝐽(𝜃𝜃)𝜃𝜃˙ = 𝜏𝜏 T 𝜃𝜃˙

˙ 2 This can only be true if

• Must hold for all possible 𝜃𝜃.
𝜏𝜏 = 𝐽𝐽T (𝜃𝜃)𝑓𝑓tip
Joint torques to Tip force
If the configuration 𝜃𝜃 is not a singularity
then both 𝐽𝐽(𝜃𝜃) and its transpose are
invertible, and Equation (5.3) can be
written
T −1
𝑓𝑓tip = (𝐽𝐽(𝜃𝜃)) 𝜏𝜏 = 𝐽𝐽−T (𝜃𝜃)𝜏𝜏
Space Jacobian
product of exponentials form:
𝑻𝑻 𝜽𝜽𝟏𝟏 , … , 𝜽𝜽𝒏𝒏 = 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝒆𝒆 𝓢𝓢𝟐𝟐 𝜽𝜽𝟐𝟐 ⋯ 𝒆𝒆 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 𝑴𝑴
˙ −𝟏𝟏 , where
The spatial twist 𝓥𝓥𝒔𝒔 is given by 𝓥𝓥𝒔𝒔 = 𝑻𝑻𝑻𝑻
𝒅𝒅 𝓢𝓢 𝜽𝜽 𝒅𝒅 𝓢𝓢 𝜽𝜽
𝑻𝑻˙ = 𝒆𝒆 𝟏𝟏 𝟏𝟏 ⋯ 𝒆𝒆 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 𝑴𝑴 + 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝒆𝒆 𝟐𝟐 𝟐𝟐 ⋯ 𝒆𝒆 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 𝑴𝑴 + ⋯
𝒅𝒅𝒅𝒅 𝒅𝒅𝒅𝒅
= 𝓢𝓢𝟏𝟏 𝜽𝜽˙ 𝟏𝟏 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 ⋯ 𝒆𝒆 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 𝑴𝑴 + 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝓢𝓢𝟐𝟐 𝜽𝜽˙ 𝟐𝟐 𝒆𝒆 𝓢𝓢𝟐𝟐 𝜽𝜽𝟐𝟐 ⋯ 𝒆𝒆 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 𝑴𝑴 + ⋯

Also,
𝑻𝑻−𝟏𝟏 = 𝑴𝑴−𝟏𝟏 𝒆𝒆− 𝓢𝓢𝒏𝒏 𝜽𝜽𝒏𝒏 ⋯ 𝒆𝒆− 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏
 ˙ −𝟏𝟏 we obtain
Calculating 𝑻𝑻𝑻𝑻
𝓥𝓥𝒔𝒔 = 𝓢𝓢𝟏𝟏 𝜽𝜽˙ 𝟏𝟏 + 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝓢𝓢𝟐𝟐 𝒆𝒆− 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝜽𝜽˙ 𝟐𝟐 + 𝒆𝒆 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝒆𝒆 𝓢𝓢𝟐𝟐 𝜽𝜽𝟐𝟐 𝓢𝓢𝟑𝟑 𝒆𝒆− 𝓢𝓢𝟐𝟐 𝜽𝜽𝟐𝟐 𝒆𝒆− 𝓢𝓢𝟏𝟏 𝜽𝜽𝟏𝟏 𝜽𝜽˙ 𝟑𝟑 + ⋯

The above can also be expressed in vector form by means of the

adjoint mapping:

Observe that 𝓥𝓥𝒔𝒔 is a sum of 𝒏𝒏 spatial twists of the form

𝓥𝓥𝒔𝒔 = 𝑱𝑱𝒔𝒔𝒔𝒔 + 𝑱𝑱𝒔𝒔𝒔𝒔 (𝜽𝜽)𝜽𝜽˙ 𝟏𝟏 + ⋯ + 𝑱𝑱𝒔𝒔𝒔𝒔 (𝜽𝜽)𝜽𝜽˙ 𝒏𝒏

Thus
𝜽𝜽˙ 𝟏𝟏
𝓥𝓥𝒔𝒔 = 𝑱𝑱𝒔𝒔𝒔𝒔 𝑱𝑱𝒔𝒔𝒔𝒔 (𝜽𝜽) ⋯ 𝑱𝑱𝒔𝒔𝒔𝒔 (𝜽𝜽) ⋮
𝜽𝜽˙ 𝒏𝒏
= 𝑱𝑱𝒔𝒔 (𝜽𝜽)𝜽𝜽˙

The space Jacobian 𝑱𝑱𝒔𝒔 (𝜽𝜽) ∈ ℝ𝟔𝟔×𝒏𝒏 relates the joint rate vector 𝜽𝜽˙ ∈ ℝ𝒏𝒏 to
the spatial twist 𝓥𝓥𝒔𝒔
Body Jacobian
forward kinematics can be calculated in Body Fram as,
𝑻𝑻(𝜽𝜽) = 𝑴𝑴𝒆𝒆 𝓑𝓑𝟏𝟏 𝜽𝜽𝟏𝟏 𝒆𝒆 𝓑𝓑𝟐𝟐 𝜽𝜽𝟐𝟐 ⋯ 𝒆𝒆 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏
˙
Evaluating 𝑻𝑻−𝟏𝟏 𝑻𝑻,
𝓥𝓥𝒃𝒃 = 𝓑𝓑𝒏𝒏 𝜽𝜽˙ 𝒏𝒏 + 𝒆𝒆− 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏 𝓑𝓑𝒏𝒏−𝟏𝟏 𝒆𝒆 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏 𝜽𝜽˙ 𝒏𝒏−𝟏𝟏 + ⋯
+𝒆𝒆− 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏 ⋯ 𝒆𝒆− 𝓑𝓑𝟐𝟐 𝜽𝜽𝟐𝟐 𝓑𝓑𝟏𝟏 𝒆𝒆 𝓑𝓑𝟐𝟐 𝜽𝜽𝟐𝟐 ⋯ 𝒆𝒆 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏 𝜽𝜽˙ 𝟏𝟏
𝜽𝜽˙ 𝟏𝟏
𝓥𝓥𝒃𝒃 = 𝑱𝑱𝒃𝒃𝒃𝒃 (𝜽𝜽) ⋯ 𝑱𝑱𝒃𝒃𝒃𝒃−𝟏𝟏 (𝜽𝜽) 𝑱𝑱𝒃𝒃𝒃𝒃 ⋮ = 𝑱𝑱𝒃𝒃 (𝜽𝜽)𝜽𝜽˙
𝜽𝜽˙ 𝒏𝒏

The matrix 𝑱𝑱𝒃𝒃 (𝜽𝜽) is the Jacobian in the end-effector- (or body-)
frame coordinates and is called, more simply, the body Jacobian
product of exponentials form:
𝑻𝑻 = 𝑴𝑴𝒆𝒆 𝓑𝓑𝟏𝟏 𝜽𝜽𝟏𝟏 ⋯ 𝒆𝒆 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏
The body Jacobian 𝑱𝑱𝒃𝒃 (𝜽𝜽) ∈ ℝ𝟔𝟔×𝒏𝒏 relates the joint rate vector 𝜽𝜽˙ ∈ ℝ𝒏𝒏 to
the end-effector twist 𝓥𝓥𝒃𝒃 = 𝝎𝝎𝒃𝒃 , 𝒗𝒗𝒃𝒃 via
𝓥𝓥𝒃𝒃 = 𝑱𝑱𝒃𝒃 (𝜽𝜽)𝜽𝜽˙

The 𝒊𝒊 th column of 𝑱𝑱𝒃𝒃 (𝜽𝜽) is

𝑱𝑱𝒃𝒃𝒃𝒃 (𝜽𝜽) = 𝐀𝐀𝐀𝐀𝒆𝒆− 𝓑𝓑𝒏𝒏 𝜽𝜽𝒏𝒏 …𝒆𝒆− 𝓑𝓑𝒊𝒊+𝟏𝟏 𝜽𝜽𝒊𝒊+𝟏𝟏 𝓑𝓑𝒊𝒊 ,
 Space and Body Jacobian
Derivation of 𝑱𝑱𝒔𝒔𝒔𝒔 , the third
column of the space
Jacobian. (Right-hand
column) Derivation of 𝑱𝑱𝒃𝒃𝒃𝒃 ,
the third column of the
body Jacobian
𝑱𝑱𝒃𝒃𝒃𝒃 = 𝑨𝑨𝑨𝑨𝑻𝑻 𝒃𝒃 𝓑𝓑𝟑𝟑
𝒃𝒃′′

= 𝑨𝑨𝑨𝑨−𝟏𝟏
𝑻𝑻 ′′ 𝓑𝓑𝟑𝟑
𝒃𝒃𝒃𝒃

= 𝑨𝑨𝑨𝑨𝒆𝒆− 𝓑𝓑𝟓𝟓 𝜽𝜽𝟓𝟓− 𝓑𝓑𝟒𝟒 𝜽𝜽𝟒𝟒 𝓑𝓑𝟑𝟑

Statics of Open Chains
power at the joints =( power to move the robot )+( power at the end-effector )
we can equate the power at the joints to the power at the end-
effector, 𝟒𝟒
𝝉𝝉𝑻𝑻 𝜽𝜽˙ = 𝓕𝓕𝑻𝑻𝒃𝒃 𝓥𝓥𝒃𝒃

where 𝝉𝝉 is the column vector of the joint torques. Using the identity
˙ we get
𝓥𝓥𝒃𝒃 = 𝑱𝑱𝒃𝒃 (𝜽𝜽)𝜽𝜽,
𝝉𝝉 = 𝑱𝑱𝑻𝑻𝒃𝒃 (𝜽𝜽)𝓕𝓕𝒃𝒃
Singularity Analysis
A kinematically singular configuration for an open chain, or more simply a
kinematic singularity, is any configuration 𝜽𝜽 ∈ ℝ𝒏𝒏 at which the rank of the
Jacobian is not maximal

singularity is a configuration where the Jacobian loses rank, meaning that it

becomes singular or non-invertible. This means that there is no unique
solution for the inverse kinematics problem, or that some end-effector
velocities are impossible to achieve by changing the joint angles. A singularity
can cause problems such as loss of control, infinite joint velocities, or reduced
workspace. Therefore, it is important to avoid or detect singularities and
design robot manipulators that minimize them
To determine when the Jacobian becomes singular its determinant can be
examined; if the determinant of the matrix is zero, then it is singular
Manipulability
• For the geometric Jacobian 𝑱𝑱
(either 𝑱𝑱𝒃𝒃 in the end-effector
frame or 𝑱𝑱𝒔𝒔 in the fixed frame),
we can express the 𝟔𝟔 × 𝒏𝒏
Jacobian as

𝑱𝑱𝝎𝝎 (𝜽𝜽)
• 𝑱𝑱(𝜽𝜽) =
𝑱𝑱𝒗𝒗 (𝜽𝜽)
Manipulability
• This leads to two three-dimensional manipulability ellipsoids, one
for angular velocities and one for linear velocities. These
manipulability ellipsoids have principal semi-axes aligned with
the eigenvectors of 𝑨𝑨, with lengths given by the square roots of the
eigenvalues, where 𝑨𝑨 = 𝑱𝑱𝝎𝝎 𝑱𝑱𝑻𝑻𝝎𝝎 for the angular velocity
manipulability ellipsoid and 𝑨𝑨 = 𝑱𝑱𝒗𝒗 𝑱𝑱𝑻𝑻𝒗𝒗 for the linear velocity
manipulability ellipsoid.

• Letting 𝒗𝒗𝒊𝒊 and 𝝀𝝀𝒊𝒊 be the eigenvectors and eigenvalues of 𝑨𝑨, the
directions of the principal axes of the ellipsoid are 𝒗𝒗𝒊𝒊 and the
lengths of the principal semi-axes are 𝝀𝝀𝒊𝒊 , as illustrated in Figure
Apart from the geometry of the manipulability ellipsoid, it can be
useful to assign a single scalar measure defining how easily the
robot can move at a given posture. One measure is the ratio of the
longest and shortest semi-axes of the manipulability ellipsoid,

𝝀𝝀𝐦𝐦𝐦𝐦𝐦𝐦 (𝑨𝑨) 𝝀𝝀𝐦𝐦𝐦𝐦𝐦𝐦 (𝑨𝑨)

𝝁𝝁𝟏𝟏 (𝑨𝑨) = = ≥ 𝟏𝟏
𝝀𝝀𝐦𝐦𝐦𝐦𝐦𝐦 (𝑨𝑨) 𝝀𝝀𝐦𝐦𝐦𝐦𝐦𝐦 (𝑨𝑨)

where 𝑨𝑨 = 𝑱𝑱𝑱𝑱𝐓𝐓 . When 𝝁𝝁𝟏𝟏 (𝑨𝑨) is low (i.e., close to 1 ) then the
manipulability ellipsoid is nearly spherical or isotropic, meaning
that it is equally easy to move in any direction.
Example
• Denote the 𝒊𝒊 th column of 𝑱𝑱𝒔𝒔 (𝜽𝜽) by 𝑱𝑱𝒔𝒔𝒔𝒔 =

𝝎𝝎𝒔𝒔𝒔𝒔 , 𝒗𝒗𝒔𝒔𝒔𝒔 . The 𝑨𝑨𝑨𝑨𝑻𝑻𝒊𝒊−𝟏𝟏 matrices are

implicit in our calculations of the screw
axes of the displaced joint axes.

• Observe that 𝝎𝝎𝒔𝒔𝒔𝒔 is constant and in the

𝒛𝒛ˆ 𝒔𝒔 -direction: 𝝎𝝎𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟏𝟏). Choosing 𝒒𝒒𝟏𝟏
as the origin, 𝒗𝒗𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟎𝟎).
• 𝝎𝝎𝒔𝒔𝒔𝒔 is also constant in the 𝒛𝒛ˆ 𝒔𝒔 -direction, so 𝝎𝝎𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟏𝟏). Choose 𝒒𝒒𝟐𝟐
as the point 𝑳𝑳𝟏𝟏 𝒄𝒄𝟏𝟏 , 𝑳𝑳𝟏𝟏 𝒔𝒔𝟏𝟏 , 𝟎𝟎 , where 𝒄𝒄𝟏𝟏 = 𝐜𝐜𝐜𝐜𝐜𝐜 𝜽𝜽𝟏𝟏 , 𝒔𝒔𝟏𝟏 = 𝐬𝐬𝐬𝐬𝐬𝐬 𝜽𝜽𝟏𝟏 . Then 𝒗𝒗𝒔𝒔𝒔𝒔 =
− 𝝎𝝎𝟐𝟐 × 𝒒𝒒𝟐𝟐 = 𝑳𝑳𝟏𝟏 𝒔𝒔𝟏𝟏 , −𝑳𝑳𝟏𝟏 𝒄𝒄𝟏𝟏 , 𝟎𝟎 .

• The direction of 𝝎𝝎𝒔𝒔𝒔𝒔 is always fixed in the 𝒛𝒛ˆ 𝒔𝒔 -direction regardless

of the values of 𝜽𝜽𝟏𝟏 and 𝜽𝜽𝟐𝟐 , so 𝝎𝝎𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟏𝟏). Choosing 𝒒𝒒𝟑𝟑 = (𝑳𝑳𝟏𝟏 𝒄𝒄𝟏𝟏 +
𝑳𝑳𝟐𝟐 𝒄𝒄𝟏𝟏𝟏𝟏 , 𝑳𝑳𝟏𝟏 𝒔𝒔𝟏𝟏 + 𝑳𝑳𝟐𝟐 𝒔𝒔𝟏𝟏𝟏𝟏 , 𝟎𝟎), where 𝒄𝒄𝟏𝟏𝟏𝟏 = 𝐜𝐜𝐜𝐜𝐜𝐜 𝜽𝜽𝟏𝟏 + 𝜽𝜽𝟐𝟐 , 𝒔𝒔𝟏𝟏𝟏𝟏 = 𝐬𝐬𝐬𝐬𝐬𝐬 𝜽𝜽𝟏𝟏 + 𝜽𝜽𝟐𝟐 , it
follows that 𝒗𝒗𝒔𝒔𝒔𝒔 = 𝑳𝑳𝟏𝟏 𝒔𝒔𝟏𝟏 + 𝑳𝑳𝟐𝟐 𝒔𝒔𝟏𝟏𝟏𝟏 , −𝑳𝑳𝟏𝟏 𝒄𝒄𝟏𝟏 − 𝑳𝑳𝟐𝟐 𝒄𝒄𝟏𝟏𝟏𝟏 , 𝟎𝟎 .

• Since the final joint is prismatic, 𝝎𝝎𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟎𝟎), and the joint-axis
direction is given by 𝒗𝒗𝒔𝒔𝒔𝒔 = (𝟎𝟎, 𝟎𝟎, 𝟏𝟏).
Add your title here
The space Jacobian is therefore
0 0 0 0
0 0 0 0
1 1 1 0
𝐽𝐽𝑠𝑠 (𝜃𝜃) =
0 𝐿𝐿1 s1 𝐿𝐿1 s1 + 𝐿𝐿2 s12 0
0 −𝐿𝐿1 c1 −𝐿𝐿1 c1 − 𝐿𝐿2 c12 0
0 0 0 1