Tool Configuration vector

• Tool configuration is represented by the pair {p,R},

where p represents the tool position relative to the
base and R represents the orientation relative to the
base
• Specifying tool configuration with a rotation matrix
 2/3 information redundant
• Alternate compact representation

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Tool Configuration vector

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 Tool Configuration vector
• Last column of R, Approach vector direction n
which tool pointed
• Rotation abt approach vector-roll
• It contains pitch and yaw information
• Need to augment roll information with this approach
vector
• If simply added , 4 components, not a minimal
representation X

3
 Tool Configuration vector
• The size or length of approach vector can be scaled
by a positive quantity without changing direction
• We use an invertible function of tool roll angle, qn

• f-1 exists

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Tool Configuration vector

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 Tool Configuration vector
• Three axis planar articulated robot

C123 S123 0 a1C1  a2C12 

S C123 0 a1 S1  a2 S12 
Tool
Tbase   123

 0 0 1 d3 
 
 0 0 0 1 
a1C1  a2C12 
a S  a S 
 1 1 2 12 
w (q )   d3 
 0 
 0 
 q3
( ) 
 e 
 6
 Tool Configuration vector
• Five axis robot

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 Tool configuration Jacobian
• Once a trajectory is planned in the tool configuration
space one must then address the problem of
commanding the robot to follow that trajectory

• One approach is to differentiate the direct kinematic

equations to produce an expression for tool
configuration velocity in terms of joint velocity

• The transformation from tool configuration velocity to

joint velocity is called Tool Configuration Jacobian
Matrix (not a square matrix)
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 Tool configuration Jacobian(contd…)
• At certain locations in joint space tool
configuration matrix loses rank and these points
are referred to as singular configurations of the
arm

• If x  R 6 denote the tool configuration vector,

then the direct kinematic equations can be
formulated as x=w(q)

• Given x(t) find q(t) solving inverse kinematic

problem
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 Tool configuration Jacobian (contd…)
• But for driving joints we need velocity information as
well.
• Differentiating with respect to time x  V (q )q

• V(q) is a 6×n matrix of partial derivatives of w with

respect to q referred to as the tool configuration
Jacobian matrix
Operating point(q)

V(q)
Joint velocity Tool velocity

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 Tool configuration Jacobian (contd…)
• Linear transformation which maps instantaneous
joint space velocity into instantaneous tool velocity
• For a 3 axis planar robot C123 S123 0 a1C1  a2C12 
S C 0 a S  a S 
Tool
Tbase   123 123 1 1 2 12 

 0 0 1 d3 
 
 0 0 0 1 
a1C1  a2C12   a1 S1  a 2 S12  a 2 S12 0 
a S  a S   a C a C a 2C12 0 
 1 1 2 12   1 1 2 12
 0 
w (q )   
d3 0 0
  V (q )   0 0 0 

0 
 0   0 0 0 
 q3
( )   q3 
 e 
  0 0
e 
  
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 Manipulator Jacobian

• spray painting robot- force & moment generated at the

tool tip because of load carried by the robot
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 Manipulator Jacobian
• To develop a relationship between the external forces
and moments applied at the tool tip and the internal joint
torques and forces they induce

• Let dp  R3 represent an infinitesimal translation of tool

tip expressed in base co-ordinates

• d  R 3 represent infinitesimal rotation of the tool also

expressed as infinitesimal rotation of the tool

• Combining both into a six dimensional vector du called

the infinitesimal displacement vector du   
dp
d 

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 Manipulator Jacobian (contd…)
• Thus du represent both linear and angular
displacement of the tool

• The infinitesimal tool displacement is directly related

to the infinitesimal joint displacement
du  J (q)dq J(q) is the manipulator Jacobian
q  R 6 & J (q)  6  nMatrix

Operating point(q)

J(q)
Joint Displacement Tool Displacement
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 Manipulator Jacobian (contd…)
 A(q)
• Let J (q)    where, dp  A(q)dq & d  B(q)dq
 B(q)

• A(q) is the part of the manipulator Jacobian

associated with linear tool displacement and B(q) is
the part of the manipulator Jacobian associated with
angular tool displacement

dp dq
•  A(q ) The 3×n Jacobian submatrix A(q)can be
dt dt
interpreted as a linear transformation which maps

 to tool tip velocity p
instantaneous joint velocity q

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 Manipulator Jacobian (contd…)
• Differentiating tool tip position function p(q) with
respect to time p
 dp ( q ) 
 (q)   q
 dq 

A( q )  dp ( q ) 

 dq 


pk ( q )
Akj ( q )  ;1  k  3 & 1  j  n
q j

• If bk(q) denotes the kth column of B(q)

n

d  B(q)dq d   dqk b k (q)

k 1

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 Manipulator Jacobian (contd…)
• bk(q) represents a set of gains or constants of
proportionality which relate the displacement of
joint k to the angular tool displacement dφ when all
other joints are motionless
• If joint k is prismatic no angular tool displacement
induced by the linear motion along zk-1 axis

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 Manipulator Jacobian (contd…)
• Hence bk(q) can be written as
b k (q)   k z k 1 (q);1  k  n
• k  0 Prismatic Jt
•  k 1 Revolute Jt
• Let i3 be the co-ordinates of zk-1 with respect to
frame Lk-1.
• Then transforming to base co-ordinates
k 1 k 1
z (q )  R
0 (q ) i 3

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 Manipulator Jacobian (contd…)
• Let F tool  R6 denote the vector of external forces
and moments applied at the tool tip due to either a
load or contact with the environment
 f tool 
F tool   tool 
 
• ftool 3×1 force vector acting at the tool tip
• ηtool 3×1 moment vector acting at the tool tip
• Let   R 6 denote the vector of joint torques and
forces
• Let J(q) be the manipulator jacobian matrix of the
robot arm with frictionless joints
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 Manipulator Jacobian (contd…)
• If joint k is revolute τk represents the torque about k
axis
• If joint k is prismatic τk represents the force along k
axis

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 Manipulator Jacobian (contd…)
• The work performed which has units of energy must
be same regardless of the coordinate system within
which it is measured or expressed.
• The work done by an infinitesimal displacement du
of the tool is

• Alternately work done by the corresponding

infinitesimal displacement dq of the joints is

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 Manipulator Jacobian (contd…)

• But

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 Manipulator Jacobian (contd…)
• Then   J T (q)F tool


Operating point(q)
F tool JT(q)
Tool Forces & Moments Joint torques & forces

• If only one among these can be measured

using sensors, other can be calculated.

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