Universiti Kuala Lumpur Malaysia France Institute

Continuing with Jacobian and

its uses

Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
 Connecting the ∀ Operator to the
Jacobian
Universiti Kuala Lumpur Malaysia France Institute

• Examination of the Velocity Vector: ⎡ • ⎤

⎢ ⎥x
• If we consider motion to be made in
UNIT TIME: dt = ∆t = 1 ⎢ • ⎥
⎢y⎥
• Then xdot (which is dx/dt) – • ⎢ • ⎥
is dx D=⎢ z ⎥
⎢ω ⎥
• Similarly for ydot, zdot, and the ω’s. ⎢ x⎥
They are: dy, dz and δx, δy, and δz ⎢ω y ⎥
respectively ⎢ω ⎥
⎢⎣ z ⎥⎦
 These data then can build the
∀operator:
Universiti Kuala Lumpur Malaysia France Institute

⎡ 0 −δ z δ y dx ⎤
⎢δ 0 −δ x d y ⎥
∇=⎢ z ⎥
⎢−δ y δ x 0 dz ⎥
⎢ ⎥
⎣ 0 0 0 0⎦
Populate it with the outtakes from the Ddot
Vector – which was found from: J*Dqdot
 Using these two ideas:
Universiti Kuala Lumpur Malaysia France Institute

• Forward Motion in Kinematics:

– Given Joint Velocities and Positions
– Find Jacobian (a function of Joint positions) & T0n
– Compute Ddot, finding di’s and δi’s – in unit time
– Use the di’s and δi’s to build ∀
– With ∀ and T0n compute new T0n
– Apply IKS to new T0n which gets new Joint Positions
– Which builds new Jacobian and new Ddot
– … and so on
 Most Common use of Jacobian is to Map
Motion Singularities
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• Singularities are defined as:

– Configurations from which certain directions of motion are
unattainable
– Locations where bounded (finite) TCP velocities may correspond
to unbounded (infinite) joint velocities
– Locations where bounded gripper forces & torques may
correspond to unbounded joint torques
– Points on the boundary of manipulator workspaces
– Points in the manipulator workspace that may be unreachable
under small perturbations of the link parameters
– Places where a unique solution to the inverse kinematic problem
does not exist (No solutions or multiple solutions)
 Finding Singularities:
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• They exist wherever the Determinate of

the Jacobian vanishes:
• Det(J) = 0
• As we remember, J is a function of the Joint
positions so we wish to know if there are any
combinations of these that will make the
determinate equal zero
• … And then try to avoid them!
 Finding the Jacobian’s
Determinate
Universiti Kuala Lumpur Malaysia France Institute

• We will decompose the

Jacobian by Function:
– J11 is the Arm Joints
contribution to Linear velocity
– J22 is the Wrist Joints
contribution to Angular
⎡ J 11 J 12 ⎤
J =⎢
Velocity
– J21 is the (secondary)
⎥
⎣ J 21 J 22 ⎦
contribution of the ARM joints
on angular velocity
– J12 is the (secondary)
contribution of the WRIST
joints on the linear velocity
• Note: Each of these is a 3X3
matrix in a full function robot
 Finding the Jacobian’s Determinate
Universiti Kuala Lumpur Malaysia France Institute

• Considering the case of the Spherical

Wrist:

• J12: ⎡⎣ Z3 × ( On − O3 ) Z4 × ( On − O4 ) Z5 × ( On − O5 )⎤⎦

• Of course O3, O4, O5 are a single point so

if we ‘choose’ to solve the Jacobian
(temporally) at this (wrist center) point
then J12 = 0!
– This really states that On= O3= O4= O5 (which
is a computation convenience but not a ‘real
Jacobian’)
 Finding the Jacobian’s Determinate
Universiti Kuala Lumpur Malaysia France Institute

• With this simplification:

– Det(J) = Det(J11)•Det(J22)
– The device will be singular then whenever
either Det(J11) or Det(J22) equals 0
– These separated Singularities would be
considered ARM Singularities or WRIST
Singularities, respectively
 Lets Compute the ARM Singularities for a
Spherical Device
Universiti Kuala Lumpur Malaysia France Institute

• From Earlier efforts we found that:

⎡−d3S1C 2 −d3C1S 2 C1C 2⎤

⎢
J11 = d3C1C 2 −d3S1S 2 S1C 2 ⎥
⎢ ⎥
⎢⎣ 0 d3C 2 S 2 ⎥⎦
• To solve lets “Expand by Minors” along
3rd row
 Lets Compute the ARM Singularities for a
Spherical Device
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{
J11 = 0 ∗ ⎡⎣( −d3C1S 2 ∗ S1C 2 ) − ( −d3S1S 2 ∗ C1C 2 ) ⎤⎦ }
{ }
− d3C 2 ∗ ⎡⎣( −d3S1C 2 ∗ S1C 2 ) − ( d3C1C 2 ∗ C1C 2 ) ⎤⎦

+ {S 2 ∗ ⎡⎣( −d S1C 2 ∗ d S1S 2 ) − ( −d C1S 2 ∗ d C1C 2 ) ⎤⎦}

3 3 3 3

After simplification: the 1st term is zero;

The second term is d32S22C2;
The 3rd term is d32C22C2
 Lets Compute the ARM Singularities for a
Spherical Device, cont.
Universiti Kuala Lumpur Malaysia France Institute

∴
J11 = 0 + d C2 C2 + d S C2
2
3
2 2 2
3 2

J11 = d C2 ( C2 + S2
2
3
2 2
)
J11 = d C22
3 This is the ARM determinate,
it would be zero whenever
Cos(θ2) = 0 (90° or 270°)