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FF Lecture 06

The document discusses differential kinematics, focusing on the relationship between joint velocities and end-effector motion, as well as the concept of kinematic singularities which occur when the Jacobian matrix is rank-deficient. It covers classifications of singularities, redundancy analysis, and methods for inverse differential kinematics, particularly in the context of redundant manipulators. Additionally, it addresses optimal solutions for joint velocities using Lagrange multipliers and the computation of arm and wrist singularities.

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Asadollah
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19 views12 pages

FF Lecture 06

The document discusses differential kinematics, focusing on the relationship between joint velocities and end-effector motion, as well as the concept of kinematic singularities which occur when the Jacobian matrix is rank-deficient. It covers classifications of singularities, redundancy analysis, and methods for inverse differential kinematics, particularly in the context of redundant manipulators. Additionally, it addresses optimal solutions for joint velocities using Lagrange multipliers and the computation of arm and wrist singularities.

Uploaded by

Asadollah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Differential Kinematics

 Relationship between the joint velocities and the corresponding end-


effector linear and angular velocity
 Differential kinematics
 Geometric Jacobian
 Jacobian of typical manipulator structures
 Kinematic singularities
 Analysis of redundancy
 …
 …

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Kinematic Singularities

 Configurations at which J is rank-deficient are termed kinematic


singularities

 mobility of the structure


 infinite solutions to the inverse kinematics problem may exist
 in the neighbourhood of a singularity, small velocities in the operational space
may cause large velocities in the joint space
 Classification
 Boundary singularities that occur when the manipulator is either outstretched or
retracted
 Internal singularities that occur inside the reachable workspace and are generally
caused by the alignment of two or more axes of motion

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Two-link Planar Arm

 Two column vectors [−(a1 + a2)s1 (a1 + a2)c1 ]T and [−a2s1 a2c1 ]T of the
Jacobian become parallel
 The tip velocity components are not independent

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Singularity Decoupling

 Computation of arm singularities resulting from the motion of the first


3 or more links
 Computation of wrist singularities resulting from the motion of the
wrist joints

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Singularity Decoupling

 parallel to

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Wrist Singularities

 Rotations of equal magnitude about opposite directions on and


do not produce any end-effector rotation

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Arm Singularities

 Anthropomorphic arm

 Elbow singularity

 Shoulder singularity

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Analysis of Redundancy

 if

 in general
Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics
Analysis of Redundancy

 If

where

 Indeed

generates internal motions

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Inverse Differential Kinematics

 Direct kinematics = Non-linear equation


 Differential kinematics equation = Linear mapping between the joint
velocity space and the operational velocity space
 Assigned and the initial conditions on position and orientation

 if n=r

 Euler integration method

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Redundant Manipulators

 For a given configuration , find solutions that satisfy


and minimize the quadratic cost functional of joint velocities

 Method of Lagrange multipliers

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Redundant Manipulators

 Optimal solution

if

where
is the right pseudo-inverse of

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics

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