Jacobian
Introduction
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – Mapping Operator
Joint & Cartesian/Task Spaces
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Kinematics Relations - Joint & Cartesian/Task Spaces
• A robot is often used to manipulate object attached
to its tip (end effector).
• The location of the robot tip may be specified using {N}
one of the following descriptions:
𝜃1
• Joint Space 𝜃2
⋮
𝜃=
𝑑𝑖
⋮
𝜃𝑁
• Task Space (Cartesian Space)
0 0𝑃 0𝑃
0 𝑁𝑅 𝑁 𝑁
𝑁𝑇 = 𝑋= 0𝐾
0 1 𝑁
Equivalent Axis
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Kinematics Relations - Forward & Inverse
• The robot kinematic equations relate the two description of the robot tip location
𝑋 = 𝐹𝐾(𝜃)
𝜃1
𝜃2 0
⋮ 𝑃𝑁
𝜃=
𝑑𝑖
𝑋= 0𝐾
𝑁
⋮
𝜃𝑁
𝜃 = 𝐼𝐾(𝑋)
Tip Location in Tip Location in
Joint Space Task/Cartesian/EE Space
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Kinematics Relations - Forward & Inverse
𝑥ሶ = 𝐽 𝜃 𝜃ሶ
𝜃ሶ1 𝑣𝑥
𝜃ሶ 2 𝑣𝑦
𝑑 𝑑 𝑣𝑁 𝑣𝑧
𝜃ሶ = [𝜃] = ⋮ 𝑋ሶ = [𝑋] = = 𝜔
𝑑𝑡 𝑑ሶ 𝑖 𝑑𝑡 𝜔𝑁 𝑥
⋮ 𝜔𝑦
𝜃ሶ 𝑁 𝜔𝑧
𝜃ሶ = 𝐽−1 𝜃 𝑥ሶ
Tip Velocity in Tip velocity in
Joint Space Task/Cartesian/EE Space
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – Derivation from First Principals
Velocity Maping
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The Jacobian is a multi dimensional form of the derivative.
• Suppose that for example we have 6 functions, each of which is a function of 6 independent variables
𝑦1 = 𝑓1 (𝑥1 , 𝑥2 , 𝑥3 , 𝑥4 , 𝑥5 , 𝑥6 )
𝑦2 = 𝑓2 (𝑥1 , 𝑥2 , 𝑥3 , 𝑥4 , 𝑥5 , 𝑥6 )
⋮
𝑦6 = 𝑓6 (𝑥1 , 𝑥2 , 𝑥3 , 𝑥4 , 𝑥5 , 𝑥6 )
• We may also use a vector notation to write these equations as
𝑌 = 𝐹(𝑋)
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• If we wish to calculate the differential of 𝑦𝑖 as a function of the differential 𝑥𝑖 we use the chain rule to get
𝜕𝑓1 𝜕𝑓1 𝜕𝑓1
𝛿𝑦1 = 𝛿𝑥1 + 𝛿𝑥2 + ⋯ + 𝛿𝑥6
𝜕𝑥1 𝜕𝑥2 𝜕𝑥6
𝜕𝑓2 𝜕𝑓2 𝜕𝑓2
𝛿𝑦2 = 𝛿𝑥 + 𝛿𝑥 + ⋯ + 𝛿𝑥
𝜕𝑥1 1 𝜕𝑥2 2 𝜕𝑥6 6
⋮
𝜕𝑓6 𝜕𝑓6 𝜕𝑓6
𝛿𝑦6 = 𝛿𝑥 + 𝛿𝑥 + ⋯ + 𝛿𝑥
𝜕𝑥1 1 𝜕𝑥2 2 𝜕𝑥6 6
• Which again might be written more simply using a vector notation as
𝜕𝐹
𝛿𝑌 = 𝛿𝑋
𝜕𝑋
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The 6x6 matrix of partial derivative is defined as the Jacobian matrix
𝜕𝐹
𝛿𝑌 = 𝛿𝑋 = 𝐽(𝑋)𝛿𝑋
𝜕𝑋
• By dividing both sides by the differential time element, we can think of the Jacobian as mapping velocities in
X to those in Y
𝑌ሶ = 𝐽(𝑋)𝑋ሶ
• Note that the Jacobian is time varying linear transformation
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• In the field of robotics the Jacobian matrix describe
the relationship between the joint angle rates (𝜃ሶ𝑁 )
and the translation and rotation velocities of the
end effector (𝑥).
ሶ This relationship is given by:
𝑥ሶ = 𝐽 𝜃 𝜃ሶ
𝑣𝑥 𝜃ሶ1
𝑣𝑦 𝜃ሶ 2
𝑑 𝑣𝑁 𝑣𝑧 𝑑ሶ
𝑋ሶ = [𝑋] = = 𝜔 𝜃ሶ = 3
𝜃ሶ4
𝑑𝑡 𝜔𝑁 𝑥
𝜔𝑦 𝜃ሶ 5
𝜔𝑧 𝜃ሶ 6
−1
𝜃ሶ = 𝐽 𝜃 𝑥ሶ
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• In the field of robotics the Jacobian matrix describe
the relationship between the joint angle rates (𝜃ሶ𝑁 )
and the translation and rotation velocities of the
end effector (𝑥).
ሶ This relationship is given by:
𝑥ሶ = 𝐽 𝜃 𝜃ሶ
𝑥ሶ 𝜃ሶ1
𝑦ሶ 𝜃ሶ2
𝑧ሶ 𝐽 𝜃
=
𝜔𝑥 ⋯
𝜔𝑦
𝜔𝑧 𝜃ሶ𝑁
−1
𝜃ሶ = 𝐽 𝜃 𝑥ሶ
• Note: The Jacobian is a function of joint angle 𝜃
meaning that the Jacobian varies as the
configuration of the arm changes
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• This expression can be expanded to:
𝑥ሶ 𝜃ሶ1
𝑦ሶ 𝐽𝜐 𝜃 𝜃ሶ2
𝑧ሶ
=
𝜔𝑥 ⋯
𝜔𝑦 𝐽𝜔 𝜃
𝜔𝑧 𝜃ሶ𝑁
6x1 6xN Nx1
• Where:
– 𝑥ሶ is a 6x1 vector of the end effector linear and angular velocities
– 𝐽𝜃 is a 6xN Jacobian matrix
– 𝜃ሶ 𝑁 is a Nx1 vector of the manipulator joint velocities
– 𝑁 is the number of joints
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The meaning of each line (e.g. the first line) of the
Jacobian matrix:
𝑥ሶ 𝐽11 𝐽12 𝐽13 𝐽14 𝐽15 𝐽16 𝜃ሶ1
𝑦ሶ 𝐽𝜐 𝜃 𝜃ሶ2
𝑧ሶ
=
𝜔𝑥 ⋯
𝜔𝑦 𝐽𝜔 𝜃
𝜔𝑧 𝜃ሶ𝑁
• The first line maps the contribution of the angular
velocity of each joint to the linear velocity of the end
effector along the x-axis
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The meaning of each column (e.g. the first
column) of the Jacobian matrix:
𝑥ሶ 𝐽11 𝜃ሶ1
𝑦ሶ 𝐽21 𝐽𝜐 𝜃 𝜃ሶ2
𝑧ሶ 𝐽31
=
𝜔𝑥 𝐽41 ⋯
𝜔𝑦 𝐽51 𝐽𝜔 𝜃
𝜔𝑧 𝐽61 𝜃ሶ𝑁
• The first column maps the contribution of the
angular velocity of the first joint to the linear and
angular velocities of the end effector along all the
axis (x,y,z)
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – Derivation from First Principles (Virtual Work)
Forces & Torque
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix – Derivation Using Virtual Work Principles
– The work applied on a mass moving in a linear
fashion is the dot product of the force applied
and its incremental displacement
𝑊 = 𝐹 ∙ Δ𝑥 = 𝐹𝑐𝑜𝑠𝜃𝑥
– In a similar fashion the work applied on a
revolving mass is the do product of the torque
and the incremental angular displacement
𝑊 = 𝜏 ∙ Δ𝜃
Jacobian Matrix – Derivation Using Virtual Work Principles
– Extending the two previous pervious principles
to a multi joint multi link mechanism resulted in
an equation which describes from one end the
virtual work applied by the joint torque on the
manipulator which should be equal to the work
applied on its end effector by all the external
loads
𝐹 ∙ 𝛿𝑥 = 𝜏 ∙ 𝛿𝜃
– Rewriting this compact equation explicitly
resulted in multiple equations defined as
follows
𝐹𝑥 𝑥 = 𝜏1 𝜃1
…
𝑀𝑥 𝜃𝑥 = 𝜏4 𝜃4
Jacobian Matrix – Derivation Using Virtual Work Principles
– Transposing the following compact equation
𝐹 ∙ 𝛿𝑥 = 𝜏 ∙ 𝛿𝜃
𝐹 ∙ 𝛿𝑥 = 𝜏 ∙ 𝛿𝜃 𝑇
– Resulted in
𝐹 𝑇 𝛿𝑥 = 𝜏 𝑇 𝛿𝜃
– Utilizing the relationship between task space displacement and joint space displacement
𝛿𝑥 = 𝐽𝛿𝜃
– And plugging it into the transpose equation, resulted in
𝐹 𝑇 𝐽𝛿𝜃 = 𝜏 𝑇 𝛿𝜃
Jacobian Matrix – Derivation Using Virtual Work Principles
– Canceling delta theta 𝛿𝜃 and transposing the following compact equation
𝐹 𝑇 𝐽𝛿𝜃 = 𝜏 𝑇 𝛿𝜃
𝜏 𝑇 = 𝐹𝑇 𝐽 𝑇
– Base on the notation where
𝐴𝐵 𝑇 = 𝐵𝑇 𝐴𝑇
𝐹 𝑇 𝐽 𝑇 = 𝐽𝑇 𝐹
– Resulting in the equation defining the mapping between external loads and the joint torque
𝜏 = 𝐽𝑇 𝐹
Jacobian Matrix - Introduction
• Deriving the Jacobian matrix using virtual work principle 𝐹𝑥 𝑥 = 𝜏1 𝜃1
𝑊 = 𝐹 ∙ Δ𝑥
= 𝐹𝑐𝑜𝑠𝜃𝑥 𝑀𝑥 𝜃𝑥 = 𝜏4 𝜃4
𝑊 = 𝜏 ∙ Δ𝜃
𝐹 𝑇 𝛿𝑥 = 𝜏 𝑇 𝛿𝜃
𝑇
𝐹 ∙ 𝛿𝑥 = 𝜏 ∙ 𝛿𝜃 𝛿𝑥 = 𝐽𝛿𝜃
𝐹 𝑇 𝐽𝛿𝜃 = 𝜏 𝑇 𝛿𝜃
Jacobian Matrix - Introduction
• In addition to the velocity relationship, we are also
interested in developing a relationship between the
robot joint torques (𝜏 ) and the forces and moments
(𝐹) at the robot end effector (Static Conditions).
𝐹
This relationship is given by:
𝑇
𝜏=𝐽 𝜃 𝐹
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• This expression can be expanded to:
𝜏1 𝑇 𝐹𝑥
𝜏2 𝐹𝑦
𝐽𝑓 𝜃 𝐽𝜏 𝜃 𝐹𝑧
⋯ = 𝑀𝑥
𝑀𝑦
𝜏𝑁 𝑀𝑧
Nx1 6xN 6x1
• Where:
– 𝜏 is a 6x1 vector of the robot joint torques
𝑇
– 𝐽𝜃 is a 6xN Transposed Jacobian matrix
– 𝐹 is a Nx1 vector of the forces and moments at the robot end effector
– 𝑁 is the number of joints
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The meaning of each line (e.g. the first line) of the
Jacobian matrix:
𝜏1 𝐽11 𝐽21 𝐽31 𝐽41 𝐽51 𝐽61 𝑇 𝐹𝑥
𝜏2 𝐹𝑦
𝐽𝑓 𝜃 𝐽𝜏 𝜃 𝐹𝑧
⋯ = 𝑀𝑥
𝑀𝑦
𝜏𝑁 𝑀𝑧
Nx1 6xN 6x1
• Action: The first line represent how the torque
applied at the first joint contributes to the forces and
torques applied by the end effector
• Reaction: The first line maps the contribution of the
partial external loads applied on the end effector to
the join torque that needs to be applied to maintain
static equilibriums
•
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Introduction
• The meaning of each column (e.g. the first column)
of the Jacobian matrix:
𝑇
𝜏1 𝐽11 𝐹𝑥
𝜏2 𝐽12 𝐹𝑦
𝐽13 𝐽𝑓 𝜃 𝐽𝜏 𝜃 𝐹𝑧
⋯ =
𝐽14 𝑀𝑥
𝐽15 𝑀𝑦
𝜏𝑁 𝐽16 𝑀𝑧
Nx1 6xN 6x1
• Action: The first column represent what partial torque
applied by each joint is required to create an
equilibrium of the force alon the X- Axis
• Reaction: The first column maps the contribution of
the partial external loads of the force along the X-axis
applied on the end effector to the join torques that are
needed to be applied to maintain static equilibriums
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix - Derivation Methods
Explicit Method Iterative Methods
Recursive Equations
Velocity Force/Torque
Differentiation the
Propagation – Propagation –
Forward Kinematics Eqs.
Base to EE EE to Base
(Method 1)
(Method 2) (Method 3)
Jacobian Matrix
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – R Robot (1 DOF) - Example
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 1R - 1/4
• Consider a simple planar 1R robot
𝑦
𝑃𝑦 𝑉𝑒𝑒
𝑟
𝜃, 𝜃ሶ
𝑥
𝑃𝑥
• The end effector position is given by
0𝑃 = 𝑥 = 𝑟 cos 𝜃
𝑥
0𝑃 = 𝑦 = 𝑟 sin 𝜃
𝑦
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 1R - 2/4
• The velocity of the end effector is defined by
0𝑉
𝑥 = 0𝑃ሶ 𝑥 = 𝑥ሶ = −𝜃𝑟ሶ sin 𝜃 = −𝜔𝑟 sin 𝜃 𝜃ሶ
0
𝑉𝑦 = 0𝑃ሶ 𝑦 = 𝑦ሶ = 𝜃𝑟
ሶ cos 𝜃 = 𝜔𝑟 cos 𝜃 𝜃ሶ
• Expressed in matrix form we have
𝑥ሶ = 𝐽 𝜃 𝜃ሶ
𝑥ሶ −𝑟 sin 𝜃 ሶ
= 𝜃
𝑦ሶ 𝑟 cos 𝜃
2x1 2x1 1x1
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 1R - 3/4
𝐹𝑦 𝐹𝑒𝑒
𝑃𝑦 𝐹𝑥
𝑟
𝜃, 𝜃ሶ
𝜏
𝑥
𝑃𝑥
• The moment about the joint generated by the force acting on the end effector is given by
𝜏 = −𝑟𝐹𝑥 sin 𝜃 + 𝑟𝐹𝑦 cos 𝜃
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 1R - 4/4
• Expressed in matrix form we have
𝑇
𝜏=𝐽 𝜃 𝐹
𝐹𝑥
𝜏 = −𝑟 sin 𝜃 𝑟 cos 𝜃 𝐹
𝑦
1x1 1x2 2x1
𝑥ሶ = 𝐽 𝜃 𝜃ሶ
𝑥ሶ −𝑟 sin 𝜃 ሶ
= 𝜃
𝑦ሶ 𝑟 cos 𝜃
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – 2R Robot (2 DOF) - Example
Jacobian – Manipulability Ellipsoid
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
• Given: Consider the following 2 DOF Planar
manipulator
• Problem: Compute the Jacobian matrix that
describes the relationship
𝑇
𝑥ሶ = 𝐽 𝜃 𝜃ሶ 𝜏=𝐽 𝜃 𝐹
• Solution: Differentiating the forward kinematics
equations
𝑥
𝑥= 𝑦
• Result: The end effector position and orientation is
defined in the base frame by
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
𝑥𝑡𝑖𝑝 = 𝐿1 𝑐1 + 𝐿2 𝑐12
𝑦𝑡𝑖𝑝 = 𝐿1 𝑠1 + 𝐿2 𝑠12
𝑑𝑥𝑡𝑖𝑝
𝑣𝑥𝑡𝑖𝑝 = = −𝐿1 𝜃ሶ1 𝑠1 − 𝐿2 𝜃ሶ1 + 𝜃ሶ2 𝑠12
𝑑𝑡
𝑑𝑦𝑡𝑖𝑝
𝑣𝑦𝑡𝑖𝑝 = = 𝐿1 𝜃ሶ1 𝑐1 + 𝐿2 𝜃ሶ1 + 𝜃ሶ2 𝑐12
𝑑𝑡
𝑣𝑥 −𝐿1 𝑠1 − 𝐿2 𝑠12 −𝐿2 𝑠12 𝜃ሶ1
𝑣𝑦 =
𝐿1 𝑐1 + 𝐿2 𝑐12 𝐿2 𝑐12 𝜃ሶ2
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
𝑣𝑥 𝐽11 𝐽21 𝜃ሶ1
𝑣𝑦 =
𝐽12 𝐽22 𝜃ሶ2
• Column 1 of 𝐽 𝜃 → 𝐽1 𝜃 when 𝜃ሶ1 = 1, 𝜃ሶ2 = 0
• Column 2 of 𝐽 𝜃 → 𝐽2 𝜃 when 𝜃ሶ1 = 0, 𝜃ሶ2 = 1
• As long as 𝐽1 𝜃 and 𝐽2 𝜃 are not collinear
(parallel), it is possible to generate an end effector
velocity 𝑣𝑡𝑖𝑝 in any arbitrary direction in the 𝑥0 , 𝑦0
plane by choosing appropriate joint velocities 𝜃ሶ1
and 𝜃ሶ2 .
• Since 𝐽1 𝜃 and 𝐽2 𝜃 depend on the joint values 𝜃1
and 𝜃2 , there are some configurations where
𝐽1 𝜃 , 𝐽2 𝜃 become collinear (parallel) (e.g. when
𝜃2 = 0 or 𝜃2 = 180)
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
𝜃2 = 0
• If
𝜃2 = 180
regardless of the value of 𝜃1 , 𝐽1 𝜃 and 𝐽2 𝜃 will
be collinear and the Jacobian 𝐽(𝜃) become a
singular matrix
• Such configurations are called singularities, and
they are characterized by a situation where the
robot’s end effector is unable to generate velocities
in certain directions
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
𝜃2 = 0 𝐽1 ∥ 𝐽2
For any 𝜃1 → 𝑠𝑖𝑛𝑔𝑢𝑙𝑎𝑟𝑖𝑡𝑖𝑒𝑠
𝜃2 = 180 𝐽1 ∥ 𝐽2
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
• Substitute 𝐿1 = 1; 𝐿2 = 1
• Consider the robot at two different non-singular postures
0 0 −0.71 −0.71
𝜃= 𝐽 =
𝜋/4 𝜋/4 1.71 0.71
• The Jacobian can be used to map bounds on rotational speed of the joints 𝜃ሶ to bounds on the end
effector velocity 𝑣𝑡𝑖𝑝
ሶ 𝑣𝑥
ሶ𝜃 = 𝜃1 𝑋ሶ = 𝑣
𝜃ሶ2 𝑋ሶ = 𝐽 𝜃 𝜃ሶ
𝑦
Tip Velocity in 𝑣𝑥 −0.71 −0.71 𝜃ሶ1 Tip velocity in
Joint Space 𝑣𝑦 = 1.71 0.71 𝜃ሶ 2 Task Space
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
𝜃ሶ1 𝑣𝑥
𝜃ሶ = ሶ
𝑋= 𝑣
𝜃ሶ2 𝑋ሶ = 𝐽 𝜃 𝜃ሶ
𝑦
Tip Velocity in 𝑣𝑥 −0.71 −0.71 𝜃ሶ1 Tip velocity in
Joint Space 𝑣𝑦 = 1.71 0.71 𝜃ሶ 2 Task Space
−0.71 −0.71 1 −1.42
A 𝑣𝑡𝑖𝑝 = =
1.71 0.71 1 2.42
−0.71 −0.71 −1 0
B 𝑣𝑡𝑖𝑝 = =
1.71 0.71 1 −1
−0.71 −0.71 −1 1.42
C 𝑣𝑡𝑖𝑝 = =
1.71 0.71 −1 −2.42
−0.71 −0.71 1 0
D 𝑣𝑡𝑖𝑝 = =
1.71 0.71 −1 1
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differentiation - 2R
• Rather than mapping a polygon of joint velocities through the Jacobian, we could instead map a unit circle of
joint velocities into the end effector velocities in the 𝑥0 , 𝑦0 plane
• The circle represents an iso-effort contour in the joint velocity space, where total actuator effort is considered
to be the sum of squares of the joint velocities
Tip Velocity in Tip velocity in
Joint Space Task Space
1= 𝜃ሶ12 + 𝜃ሶ22
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Properties of the Jacobian -
Velocity Mapping and Singularities
• Note: See Mathematica Simulations
– Two Link: [Link]
– Three links : [Link]
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Manipulability Ellipsoid – Definition
Tip Velocity in Tip velocity in
Joint Space Task Space
𝑥ሶ = 𝐽 𝜃 𝑞ሶ
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Manipulability Ellipsoid & Manipulability Measures – Design
• Robotic Arm Design – Mechanism Size
• Robotic Arm - Base Position – Position of the mechanism with respect to the workspace to maximize the
manipulability
Instructor: Jacob Rosen
Advanced Robotic - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian – RR Robot (3 DOF) - Example
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differanciation - 3R - 1/4
• Given: Consider the following 3 DOF Planar
manipulator
𝑦0
𝛼
• Problem: Compute the Jacobian matrix that
describes the relationship
𝑇 𝑥3
𝑥ሶ = 𝐽 𝜃 𝜃ሶ 𝜏=𝐽 𝜃 𝐹 𝑦
• Solution: Differentiating the forward kinematics
𝑥2
equations 𝑦3
𝑥 𝑦2
𝑥= 𝑦
𝑦1
𝛼 𝑥1
• Result: The end effector position and orientation is
defined in the base frame by
𝑥 𝑥0
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differanciation - 3R - 2/4
• Problem: Compute the Jacobian matrix that describes the relationship
𝑇
𝑥ሶ = 𝐽 𝜃 𝜃ሶ 𝜏=𝐽 𝜃 𝐹
• Solution: The end effector position and orientation is defined in the base frame by
𝑥
𝑥= 𝑦
𝛼
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differanciation - 3R - 3/4
• The forward kinematics gives us relationship of the end effector to the joint angles:
𝑦0
0 𝛼
𝑃3 𝑜𝑟𝑔, 𝑥 = 𝑥 = 𝐿1 𝑐1 + 𝐿2 𝑐12 + 𝐿3 𝑐123
𝑦
𝑥3
0𝑃 = 𝑦 = 𝐿1 𝑠1 + 𝐿2 𝑠12 + 𝐿3 𝑠123
3 𝑜𝑟𝑔, 𝑦
𝑥2
0
𝑃3 𝑜𝑟𝑔, 𝛼 = 𝛼 = 𝜃1 + 𝜃2 + 𝜃3 𝑦2
𝑦3
𝑦1
• Differentiating the three expressions gives 𝑥1
𝑥ሶ = −𝐿1 𝑠1 𝜃ሶ1 − 𝐿2 𝑠12 𝜃ሶ1 + 𝜃ሶ2 − 𝐿3 𝑠123 𝜃ሶ1 + 𝜃ሶ2 + 𝜃ሶ3
𝑥 𝑥0
= − 𝐿1 𝑠1 + 𝐿2 𝑠12 + 𝐿3 𝑠123 𝜃ሶ1 − 𝐿2 𝑠12 + 𝐿3 𝑠123 𝜃ሶ2 − 𝐿3 𝑠123 𝜃ሶ3
𝑦ሶ = 𝐿1 𝑐1 𝜃ሶ1 + 𝐿2 𝑐12 𝜃ሶ1 + 𝜃ሶ2 + 𝐿3 𝑐123 𝜃ሶ1 + 𝜃ሶ2 + 𝜃ሶ3
= 𝐿1 𝑐1 + 𝐿2 𝑐12 + 𝐿3 𝑐123 𝜃ሶ1 + 𝐿2 𝑐12 + 𝐿3 𝑐123 𝜃ሶ2 + 𝐿3 𝑐123 𝜃ሶ3
𝛼ሶ = 𝜃ሶ1 + 𝜃ሶ2 + 𝜃ሶ3
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA
Jacobian Matrix by Differanciation - 3R - 4/4
• Using a matrix form we get
𝑥ሶ = 0𝐽 𝜃 𝜃ሶ
𝑥ሶ −𝐿1 𝑠1 − 𝐿2 𝑠12 − 𝐿3 𝑠123 −𝐿2 𝑠12 − 𝐿3 𝑠123 −𝐿3 𝑠123 𝜃ሶ1
𝑦ሶ = 𝐿1 𝑐1 + 𝐿2 𝑐12 + 𝐿3 𝑐123 𝐿2 𝑐12 + 𝐿3 𝑐123 𝐿3 𝑐123 𝜃ሶ2
𝛼ሶ 1 1 1 𝜃ሶ3
• The Jacobian provides a linear transformation, giving a velocity map and a force map for a robot manipulator.
For the simple example above, the equations are trivial, but can easily become more complicated with robots
that have additional degrees a freedom. Before tackling these problems, consider this brief review of linear
algebra.
Instructor: Jacob Rosen
Advanced Robotic - MAE 263D - Department of Mechanical & Aerospace Engineering - UCLA