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FF Lecture 07

The document discusses differential kinematics, focusing on the relationship between joint velocities and end-effector motion, including concepts like the Geometric Jacobian and kinematic singularities. It highlights the use of redundancy in motion optimization and the implications of singular configurations on manipulator performance. Additionally, it contrasts analytical and geometrical Jacobians, emphasizing their respective definitions and applications in robotics.

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Asadollah
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18 views8 pages

FF Lecture 07

The document discusses differential kinematics, focusing on the relationship between joint velocities and end-effector motion, including concepts like the Geometric Jacobian and kinematic singularities. It highlights the use of redundancy in motion optimization and the implications of singular configurations on manipulator performance. Additionally, it contrasts analytical and geometrical Jacobians, emphasizing their respective definitions and applications in robotics.

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
 Use of redundancy
 Inverse differential kinematics
 Analytical Jacobian
 …
 …

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


The Use of Redundancy

 Optimal solution

 Generate internal motions

 Manipulability measure

 Distance from mechanical joint limits

 Distance from an obstacle


Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics
Kinematic Singularities

 The previous solutions can be computed only when the Jacobian has
full rank
 If the manipulator is at a singular configuration, rows of are linearly
dependent
 If a solution by extracting all the linearly independent
equations
 If the system of equations has no solution, the
operational space path cannot be executed
 The inversion of the Jacobian at a singularity
 Small high
 Damped least-squares (DLS) inverse
where minimize

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Analytical Jacobian

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Rotational Velocities of Euler Angles ZYZ

 As a result of

 As a result of

 As a result of

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Composition of Elementary Rotations

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Nonuniqueness of Orientation

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics


Analytical vs Geometrical Jacobian

 Geometrical Jacobian
 referring to quantities of clear physical meaning
 Analytical Jacobian
 referring to differential quantities of variables defined in the operational space

Prof. Fanny Ficuciello Robotics for Bioengineering • Differential Kinematics

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