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Chapter 05 - Velocity Kinematics

This document summarizes key concepts in robot velocity kinematics including: 1) Definitions of linear and angular velocity and how they relate to the Jacobian matrix. 2) Methods for calculating the Jacobian matrix both analytically and geometrically. 3) How the Jacobian matrix is used to solve the inverse differential kinematics problem. 4) Additional techniques for dealing with kinematic singularities and redundant robots. 5) An introduction to static force analysis and the duality between velocity and force.

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Huỳnh Sơn
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65 views100 pages

Chapter 05 - Velocity Kinematics

This document summarizes key concepts in robot velocity kinematics including: 1) Definitions of linear and angular velocity and how they relate to the Jacobian matrix. 2) Methods for calculating the Jacobian matrix both analytically and geometrically. 3) How the Jacobian matrix is used to solve the inverse differential kinematics problem. 4) Additional techniques for dealing with kinematic singularities and redundant robots. 5) An introduction to static force analysis and the duality between velocity and force.

Uploaded by

Huỳnh Sơn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Chapter 5

VELOCITY
KINEMATICS OF
Robots
TOPICS
Introduction to velocity kinematics
Angular velocity of a rigid body

Linear Angular velocity of End-effector

Time derivatives of rotation matrix


Jacobian matrix of robot

Singularities

Inverse differential kinematics

Redundant robot
FORCE and TORQUE – Static analysis
Velocity kinematics
Angular Velocity of a rigid body

Note:
Skew symmetric
= Anti symmetric Note:
Linear and angular Velocity of End-effector
Finite and Infinitesimal motion
Finite and Infinitesimal motion
Finite and Infinitesimal motion
Time derivatives of rotation matrix
Time derivatives of RPY
Rotate about fixed axes x0,y0,z0 Rotate about current axes z,y,z

Check using

=> Do similarly with other minimal representations


Jacobian matrix of robot

JA

JA=

Note:
or S( )
Relation between Analytical anf Geometric Jacobian

Check using

How about RPY???

p
r   

 
Analytical Jacobian matrix
Analytical Jacobian-2R planar robot

p
r     J A q

 

JA

=> J=JA
Analytical Jacobian matrix
Analytical Jacobian-Polar (Spherical) robot

JL

Euler Angles => Find J


Find JA => J = JA?
Analytical Jacobian matrix
Analytical Jacobian-Elbow robot

JL

Euler Angles => Find J


Find JA => J = JA?
Geometric Jacobian matrix

J J1 Jn

J1 Jn
Geometric Jacobian matrix
Contribution of P joint

Ji
Geometric Jacobian matrix
Contribution of R joint

Ji

Ji
Geometric Jacobian matrix
Contribution of ith joint

J1 Jn

0 0

0
Ji

0
Geometric Jacobian matrix
Geometric Jacobian matrix
Jacobian matrix- more examples

 X  -r sin  cos    


   
Y   rcos  sin   r 
 X  -r sin  cos  
     
Y    rcos sin    
  1  r 
0 
   
Jacobian matrix- more examples
Jacobian matrix- more examples
Analytical approach

Geometric approach???
Jacobian matrix- more examples
Jacobian matrix- more examples
Jacobian matrix- more examples
Transformation of the Jacobian matrix
Robot Velocity kinematics- Dexter
Robot Velocity kinematics- Dexter
Robot Velocity kinematics- Singularities

https://www.youtube.com/watch?v=lD2HQcxeNoA
https://www.youtube.com/watch?v=BPjqH_e5y3s
Robot Velocity kinematics- Singularities
Robot Velocity kinematics- Singularities
Singularity Decoupling
Robot Velocity kinematics- Singularities
Robot Velocity kinematics- Singularities
Robot Velocity kinematics- Singularities
Robot Velocity kinematics- Summary

JA JA
Inverse differential kinematics
Inverse differential kinematics

Incremental solution
Inverse differential kinematics
Incremental solution
Behavior near a singularity
Inverse differential kinematics
Incremental solution
Inverse differential kinematics

Incremental solution
Inverse differential kinematics
Incremental solution Behavior near a singularity
Inverse differential kinematics
Behavior near a singularity
Inverse differential kinematics
Behavior near a singularity
Inverse differential kinematics
Behavior near a singularity
Inverse differential kinematics

Damped Least Squares method


Inverse differential kinematics
Damped Least Squares method
Inverse differential kinematics
Damped Least Squares method
Inverse differential kinematics
Damped Least Squares method
Inverse differential kinematics
Damped Least Squares method
Inverse differential kinematics
Damped Least Squares method

(Direct kinematic)

On the assumption that matrix JA is square and nonsingular


lead to a linear system
Inverse differential kinematics
Damped Least Squares method

In case of redundant robot


Pseudo inverse of J
Inverse differential kinematics
Pseudo-inverse method
Inverse differential kinematics
Pseudo-inverse method
Inverse differential kinematics
Pseudo-inverse method
Inverse differential kinematics
Pseudo-inverse method
Inverse differential kinematics
Pseudo-inverse method
General solution for m<n
Inverse differential kinematics
Pseudo-inverse method
Robot Velocity kinematics- Redundant robot

WHY REDUNDANT???=> Kinematic redundancy can be exploited to:


increase dexterity and manipulability, avoid obstacles, avoid kinematic
singularities, minimize energy consumption, increase safety…
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot

https://www.youtube.com/watch?v=ymAgKy https://www.youtube.com/watch?v=Uluh
MF82s IJXIkBA
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Robot Velocity kinematics- Redundant robot
Higher order differential kinematics
Higher order differential kinematics
FORCE and TORQUE – Static analysis

Generalized forces and torques


FORCE and TORQUE – Static analysis

Transformation of forces – Statics


FORCE and TORQUE – Static analysis

Principle of virtual work


FORCE and TORQUE – Static analysis

Duality between velocity and force


FORCE and TORQUE – Static analysis

Velocity and force singularities


FORCE and TORQUE – Static analysis

Duality between velocity and force

Fe
FORCE and TORQUE – Static analysis

Velocity and force singularities


FORCE and TORQUE – Static analysis

Velocity manipulability
FORCE and TORQUE – Static analysis

Velocity manipulability
FORCE and TORQUE – Static analysis

Velocity manipulability
FORCE and TORQUE – Static analysis

Force manipulability
FORCE and TORQUE – Static analysis
Velocity and force manipulability dual comparison of actuation vs. control
FORCE and TORQUE – Static analysis
Velocity and force transformations
FORCE and TORQUE – Static analysis
Velocity and force transformations (proof)
FORCE and TORQUE – Static analysis

Example: 6D force/torque sensor


FORCE and TORQUE – Static analysis

Example: Gear reduction at joints

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