Kinematics of Planar Robots - Ch. 11

CHAPTER 11
KI EMATI S F PLANAR R
11. 1 Introduction
B
Robotics & Automation
S. Tosunoglu and D. Tesar
University of Texas at Austin
The planar manipulators we will study in this chapter consist of serial links that.
conned I-DOF joints and have a hand or end-effedor at their extremity, whose POs.itiOll
and path need to be controlled in order to operate the robot. The I-DOF joints may consist
of either revolute or prismatic joints. The revolute joint axes nlust all be paraIlel for the
st.ructure to be planar.
The study of spatial manipulators follows as a natural extension of planar manip-
ulators. As seen earlier, a planar rigid body requires three independent parameters to funy
specify its position and orientation. in two-dimensional space while a rigid body requires six
independent parameters to specify its position and orientation in a three-dimensional space.
It follows that if we want to fully control the end-effector of a planar manipulator, we need
to have at least three independent inputs, and thus at least have three I-DOF joints. These
inputs are measured in terms of joint displacements which will be angular for revolute joints
and linear displacements for prismatic joints. These displacements are in the "joint space"
of the robot, and we finaUy tequire the end-effector to perform some task which is specified
in terms of the "end-effector" or the '4Cartesian coordinates."
The kinematic analysis of serial arms involves the determiTlation of the transfor-
mation (or ma.pping) that relates the joint space to the end-effector space. If there are more
than three joints in a planar robot , the joint space is expected. to be of a larger dimension
than the end-effector space (which is always three dimensional for the case of planar robots).
II) kinematics, we consider two issues:
(a) Given the physical dimensions of the robot (link lengths
1
eLe.) a.nd the joint dis-
placements, velocities and. accelerations, what is theposilion and orientation of
the end-effector, and what is its velocity a.nd acceleration?
(b) Given the dimensions of the robot and the positionan-cl orientation of the end-
effector, along with its velocity and acceleration, what are the corresponding jojnt
displacements, velodties and accelerations?
215
Robotics & Automation, S. Tosunoglu and D. Tesar, University of Texas at Austin.
The first of these issues is called the forward kinematics problem and the second, the in-
verse kinematics problem. Tn contrast with the parallel mechanisms we have seen earlier,
the forward kinematics for serial robots is far easier a problem to solve than the inverse
kinematics.
11.2 Position Analysis
11.2.1 Forward Position Analysis
Consider the 3-DOF planar manipulator shown in Figure 11.1, with all revolute
joints. We will deal with the problem where we are given the relative joint displacements
<PI, <P2 and <P3, the link lengths at, a2 and a3, and we will determine the end-effector position
(XH,YFI) and its orientation <PH'
Figure 11.1 3-DOF planar 3R manipulator
Therefore, the forward position analysis has the following known and unknown
parameters:
Unknown: XII, YII, ~ I I
From the figure it is seen that
( II. j )
( 11.2)
and
(11.3 )
kinematics.
Consider the 3-00F planar manipulator shown in Figure 11.1, with all revolute
<Pl1 <P2 and <P3, the link lengths at, a2 and a3, and we will determine the end-effector position
(x H, Y II) and its orientation H.
parameters:
Unknown: XII, YII, ~ I I
( 11. j )
( 11.2)
and
(11.3 )
kinematics .
Consider the 3-DOF planar manipulator shown in Figure 11.1, with all revolute
<Pl1 <P2 and <P3, the link lengths at, a2 and a3, and we will determine the end-effector position
(x H, Y II) and its orientation H.
parameters:
Unknown: XII , YII , ~ I I
( 11.1 )
( 11.2)
and
(11.3 )
Hence, the forward position analysis is almost trivial in the case of planar manipulators.
It must be noted that if we were dealing with absolute joint displacements, then we would
write the above equations as
XH = al cos + a2 cos + a3 cos (11.4)
YH = al sin + a2 sin + a3 sin (11.5 )
and
(11.6)
Example 1
A 2-DOF manipulator with one revolute and one prismatic joint is shown in Figure
11.2. Calculate the position and orientation of the end-effector, given the joint varia.bles 4>1
and 82 and the constant link parameters a2 and f3.
Figure 11.2 RP manipulator
From the figure it is seen that the end-effector position is described by the equations
X H = 82 cos 4>1 + a2 cos( 4>1 + (3) (11. 7)
YH = 82 sin 4>1 + a2 sin( 4>1 + (3) (I 1.8)
= 4>1 + f3
(11.9)
It .is apparent that we can assign values to S2 and 4>1 to obtain the position and
Oflentatlon of the end-effector within the workspace.
217
(11.4)
YH = al sin + a2 sin + a3 sin (11.5 )
and
(11.6)
Example 1
and 82 and the constant link parameters a2 and f3.
X H = 82 cos 4>1 + a2 cos( 4>1 + (3) (11. 7)
YH = 82 sin 4>1 + a2 sin( 4>1 + (3) (11.8)
(11.9)
It .is apparent that we can assign values to 82 and 4>1 to obtain the position and
oflentatlOn of the end-effector within the workspace.
217
XH = al cos + aZ cos + a3 cos (11.4)
YH = al sin + az sin + a3 sin (11.5 )
and
(11.6)
Example 1
and 8z and the constant link parameters a2 and f3.
X H = 8Z cos 4>1 + az cos( 4>1 + (3) (11. 7)
YH = 82 sin 4>1 + az sin( 4>1 + (3) (] 1.8)
(11.9)
It .is apparent that we can assign values to S2 and 4>1 to obtain the position and
Oflentatlon of the end-effector within the workspace.
217
1 1 .2.2 Inverse Position Analysis
Before we consider the actual algebraic manipulations required to determine the
joint displacements for a given end-effector configuration, we will try to get a feel for the
other aspects of the problem. As mentioned earlier the joint space and the Cartesian spa.ce
are related through transformations that depend on the robot geometry. In t.he last sf'ctioll
we saw that. t.he forward position analysis could be carried out independent of the dimension
of the joint space, and for any given joint displacements we could always find the position
and orientation of the end-effector. However, in the case of the inverse position analysis, we
need to know the relationship between the dimensions of the two spaces that will guarantee
a solution. We start the inverse position analysis with the same equations as we did in the
forward position analysis. Hence, for the case of the 3R planar arm in Figure 11.1, we start
from the Equations (11.1, 2) and (11.3). In this case, the right-hand sides of these equations
contain the unknown joint displacements, and the end-effector parameters on the left-hand
side, (XH' YH, if.>H), are known. For the 3R, we have three equations in three unknowns
which need to be solved for the unknowns I, 2 and 3. In general, these equations can be
solved if the dimensional requirement is satisfied. In order to find a Bolu t.ion for a system
of m equations (m here represents the dimension of the end-effector space) in n unknowns
(number of 1-DOF joints), the condition on nand m is that
When n = m, usually there will be a solution that is constrained by the workspace limitations
and the joint limits. If n > m, the robot is called redundant and there are infinitely many so-
lutions. When n < m, in general there is no solution and this represents the over-constrained
robot. The number of equations, m, is 3 in the planar case and 6 in the spatial casc. These
relationships are tabulated in Table 11.1.
In inverse position analysis, there may not be a closed-form solution and the algebra
used in solving each case is geometry dependent . Consider again the 3R planar arm for which
we earlier derived the forward position eq..:ations. We can define the problem as follows:
Given: XH, YH, if.>H
Find: cI>1, if.>2, if.> 3 , or 1, 2, 3
We start with the Equations (11.4,5) and (11.6):
and
(11.4 )
(11.5 )
(11.6)
Equation (11.6) gives the value of cI>3 directly, so we need to solve for if.>1 and if.>2, only. We
now rewrite Equations (11.4) and (11.5) by regrouping the known and unknown terms:
218
(11.10)
(11.11)
are rdated through transformations that depend on the robot geometry. Tn t.he last sf'ctioll
we saw that t.he forward position analysis could be carried out independent of the dimension
side, (XH' YH, <PH), are known. For the 3R, we have three equations in three unknowns
which need to be solved for the unknowns I, 2 and 3. In general, these equations can be
solved if the dimensional requirement is satisfied. In order to find a solu t.ion for a system
(number of 1-DOF joints), the condition on nand m is that
robot. The number of equations, m, is 3 in the planar case and 6 in the spatial casc. These
used in solving each case is geometry dependent. Consider again the 3R planar arm for which
Given: XH, YH, <PH
Find: cPt, <P2, 3
(11.4 )
(11.5 )
(11.6)
Equation (11.6) gives the value of <P3 directly, so we need to solve for <PI and <P21 only. We
218
(11.10)
(11.11)
arc r d a l . ( ~ d through transformations that depend on the robot geometry. In t.he la.st sf'ction
we saw that t.he forward position analysis could be carried out independent of the dimension
side, (XH, YH, <PH), are known. For the 3R, we have three equations in three unknowns
which need to be solved for the unknowns I, 2 and 3' In general, these equations can be
solved if the dimensional requirement is satisfied. In order to find a solu t.ion for a system
(number of I-DOF joints), the condition on nand m is that
robot. The number of equations, m, is 3 in the planar case and 6 in the spatial case. These
used in solving each case is geometry dependent. Consider again the 3R planar arm for which
Given: XH, YH, <PH
Find: <PI, <P2, <P3, or I, 21 3
and
(11.4 )
(11.5 )
(11.6)
Equation (11.6) gives the value of <P3 directly, so we need to solve for <PI and <P2, only. We
218
(11.10)
(11.11)
Table 11.1 Inverse Position Analysis
n: Number of I-DOF joints of the robot (dimension of the joint space)
m: Number of equations (dimension of the end-effector space)
Planar
(m = 3)
Spatial
(m = 6)
Solution to inverse position problem
n<3 n<6
n=3 n=6
n>3 n>6
No solution exists
(over-constrained case)
Existence of solution( s)
constrained by workspace
and joint limits
Infinitely many sol u tions exist
(redundant case)
The ahove equations are solved for P2 by rewriting them as
or
where
a2 cos P2 = Al - al cos PI
a2 sin P2 = A2 - al sin PI
Al = XH - a3cosPH
A2 = YH - a3 sin PH
Squaring and adding Equations (11.14) and (11.15) side by side, we obtain
a ~ = A; + A ~ + a; - 2a1(A2 sin P1 + Al cos 4>d
or
(2a
I
A
2
) sin P1 + (2a1Al) cos PI + ( a ~ - ai - Ai - A ~ ) = 0
Since Equation (11.16) is only in terms of PI, it is rewritten as
A sin p} + B cos P1 + C = 0
where
219
(11.12)
(11.13)
(11.14)
(11.15)
(11.16)
(11.17)
Planar
(m = 3)
Spatial
(m = 6)
n<3 n<6
n==3 n=6
n>3 n>6
No solution exists
and joint limits
Infinitely many solutions exist
(redundant case)
or
where
a2 cos P2 = Al - al cos PI
Al = XH - a3cosPH
A2 = YH - a3 sin PH
a ~ = Ai + A ~ + ai - 2a1(A2 sin P1 + Al cos pd
or
(2al A2) sin P1 + (2a1Al) cos PI + ( a ~ - ai - Ai - AD == 0
A sin PI + B cos PI + C = 0
where
219
(11.12)
(11.13)
(11.14)
(11.15)
(11.16)
(11.1 7)
Planar
(m = 3)
Spatial
(m = 6)
n<3 n<6
n==3 n=6
n>3 n>6
No solution exists
and joint limits
Infinitely many sol u tions exist
(redundant case)
or
where
a2 cos P2 = Al - aI cos PI
Al = XH - a3cosPH
A2 = YH - a3 sin P H
a ~ = Ai + A ~ + ar - 2a1(A2 sin P1 + Al cos pd
or
(2a1A2) sin P1 + (2a1Al) cos PI + ( a ~ - ai - Ai - AD = 0
A sin PI + B cos PI + C = 0
where
219
(11.12)
(11.13)
(11.14)
(11.15)
(11.16)
(11.17)
and
C
2 2 A2 A2
= a
2
- a
l
- 1 - 2
Now using the half-tan expressions for the sin() and cos() terms, we rewrite Equation
(11.17) as follows:
or
(C - B)X2 + 2(A)X + (B + C) == 0
where
x == tan
2 tan( !l. ) 2X
== 2 _ __ =
1 + tan
2
( ) 1 + X2
1 - tan
2
(!l. ) 1 - X2
= 2 =
1 1+X2
This is a quadratic equation in X and the solution to this must be real to be physically
meaningful.
- A J A
2
+ B2 - C2
X= C-B
(11.18)
Hence, there is no physically realizable solution to the inverse position analysis if the deter-
minant in the above equation is negative, that is,
From Equation (11.18) we now calculate the joint angle as
-A J A2 + B2 - C2
= 2 tan -1 C _ B (11.19)
Therefore, provided that > 0, there are two vaJ:ri solutions to the problem as shown in
Figure 11.3. These two solutions describe the two closures of the robot.
to yield
or
The angle 4>2 is determined by dividing Equation (11.13) by (11.12) side by side
YH - a3 sin H - al sin
tan >2 =
x H - a3 cos H - al cos 1
.iii.
'*'2 = tan
xH
(11.20)
Once the absolute joint displacements are obtained, we then find the relative joint displace-
ments as follows:
Jl =
J2 = -
220
and
C
2 2 A2 A2
= a
2
- a
1
- 1 - 2
(11.17) as follows:
or
(C - B)X2 + 2(A)X + (B + C) = 0
where
x = tan
2 tan( !l. ) 2X
sin <1>1 = 2 _
1 + 1 + X2
1 - tan
2
(!l. ) 1 - X
2
cos = 2 =
1 1+X2
meaningful.
- A J A
2
+ B2 - C2
X= C-B
(11.18)
From Equation (ll.IS) we now calculate the joint angle <1>1 as
(11.19)
Therefore, provided that > 0, there are two va
r
r{ solutions to the problem as shown in
to yield
or
The angle <l>z is determined by dividing Equation (11.13) by (11.12) side by side
YH - a3 sin H - al sin <1>1
tan z = ...;.......---------
XH - a3 cos <l>H - al cos <1>1
Ai. -1 (YH - a3 sin <l>H - al sin <1>1 )
'*'2 = tan
XH - a3 cos H - al cos <1>1
(11.20)
ments as follows:
<PI = <1>1
<Pz = <1>2 - <1>1
220
and
C
2 2 A2 A2
= a
2
- a
1
- 1 - 2
(11.17) as follows:
or
(C - B)X2 + 2(A)X + (B + C) = 0
where
x = tan
2 tan( !l. ) 2X
= 2 _
1 + tan
2
( ) 1 + X2
1 - tan
2
(!l.) 1 - X2
cos = 2 =
1 1+X2
meaningful.
- A v' A
2
+ B2 - C2
X= C-B
(11.18)
From Equation (11.18) we now calculate the joint angle as
-A J A2 + B2 - C2
= 2 tan -1 C _ B (11.19)
Therefore, provided that > 0, there are two varr{ solutions to the problem as shown in
to yield
or
The angle <1>2 is determined by dividing Equation (11.13) by (11.12) side by side
YH - a3 sin H - al sin
tan <h = ...;;......---------
x H - a3 cos H - at cos 1
.iii.
'*'2 = tan
xH - a3cos - al cos
(11.20)
ments as follows:
Jl =
J2 = - <l>t
220
Figure 11.3 Closures of the 3R robot
4>J = ~ 3 - ~ 2
The number of closures depends on the number of degrees of freedom of the robot as
well as the arm geometry. While a 3-DOF planar arm has 2, a 6-DOF spatial arm may have
up to 32 closures. The value of the determinant in the example just considered defines the
workspace of a robot. The values of A, Band C for which the determinant is negative define
positions that are inaccessible to the robot. When the determinant is zero, two real solutions
become identical, and the robot's two closures coincide. For the 3R, these configurations
also correspond to the singularities of the arm. The physical interpretation of singularity
positions is that at these configurations control over the end-effector is not complete. These
positions may define the envelope or boundary of the workspace, or represent locations within
the workspace where the end-effector position and orientation can not be arbitrarily defined.
Example 2
For the two-link planar manipulator with one revolute and one prismatic joint as
shown in Figure 11.4, carry out the inverse position analysis.
The position of the end-effector is described by thp following equations:
We rewrite these equations as
a2 cos rP2 = XH
a2 sin rP2 = YH - 81
(11.2])
(11.22)
Squaring and adding Equations (11.21) and (11.22) side by side to eliminate the terms
containing rP2 yield
221
rJ = ~ 3 - ~ 2
well as the arm geometry. While a 3-D OF planar arm has 2, a 6-DOF spatial arm may have
become identical, and the robot 's two closures coincide. For the 3R, these configurations
Example 2
The position of the end-effector is described by th(' following equations:
a2 cos rP2 = XH
(1l.21)
(11.22)
221
>J = ~ 3 - ~ 2
well as the arm geometry. While a 3-DOF planar arm has 2, a 6-DOF spatial arm may have
become identical, and the robot's two closures coincide. For the 3R, these configurations
Example 2
The position of the end-effector is described by th(' following equations:
a2 cos rP2 = XH
(11.21)
(11.22)
221
S1
or
si - 2YHS I + ( x ~ + yiI- a ~ ) = 0
which is a quadratic equation in SI' Hence, the prismatic joint displacement 81 is solved
from this equation as
81 = YH J a ~ - x'iI
Since 81 is now known, we determine </>2 by dividing Equations (11.21) and (11.22) side by
side:
or
YH - SI
tan</>2 = .;....;...--
XH
11.3 Velocity Analysis
Consider the case where the robot positi :'U analysis has been carried out and we
now want to determine the velocity of the end-ehector given a set of joint velocities. The
obvious solution is to set up the position equations and differentiate them with respect to
time to obtain the velocity equations. Since the end-effector position is a function of all the
joint displacements, we need to perform this differentiation as follows: For a 3- DOF robot,
let
then,
XH = XH(</>I,</>2,</>3)
Y H = Y H ( </> 1 , </>2, </>3)
~ H = ~ H( </>1, </>2, rP3)
x . aXH aXH aXH
V
H
= XH = --WI + --W2 + --W3
arPl a</>2 OrP3
222
(11.23)
S1
or
8i - 2YH
8
1 + (xiI + Y1- a ~ ) = 0
which is a quadratic equation in 81' Hence, the prismatic joint displacement 81 is solved
81 = YH J a ~ - xlI
side:
or
YH - 81
tan </>2 = "----
XH
Consider the case where the robot positi :'U analysis has been carried out and we
now want to determine the velocity of the end-ehector given a set of joint velocities. The
let
then,
XH = XH(</>I,</>2,</>3)
Y H = Y H ( </> 1 , </>2, </>3)
~ H = (P H( </>I, </>2, </>3)
x . 8XH 8XH 8XH
V
H
= XH = --WI + --W2 + --W3
8</>1 8</>2 8</>3
222
(11.23)
S1
or
8i - 2YH8 1 + ( x ~ + y1- a ~ ) = 0
which is a quadratic equation in 81' Hence, the prismatic joint displacement 81 is solved
81 = YH J a ~ - x1I
side:
or
YH - 81
tan </>2 = "---
XH
Consider the case where the robot positi ."' n analysis has been carried out and we
now want to determine the velocity of the end-eftcctor given a set of joint velocities. The
let
then,
XH = XH(</>I,</>2,</>3)
Y H = Y H ( </> 1 , </>2, </>3)
~ H = ~ H( </>I, </>2, </>3)
x . 8XH 8XH 8XH
V
H
= XH = --WI + --W2 + --W3
8</>1 8</>2 o </>3
222
(11.23)
which is rewritten as
V
x
x + x + x (11 2 A)
H = gHl Wl 9U2W2 .QlI:IW3 . ' \
where the first-order partial derivatives of XlJ are dc1ined as the ;c colllPonents of the trans-
latioTlal g-fllnctions:
Similarly,
V
y
- y + II + II
H - 9Hl WI 9H2W2 9H3W3
f!H = 9H
1
W
l + 9H
2
W
2 + 9H3W3
(11.25)
(11.26)
where translational g-functions along the y-axis, 9lJi
i
, and rotational g-functions, 9Hj, are
defined as
II _ ay H - y (..I. ..I. ..I.). . 1 2 3
9Hj - arPj - 9Hj '+'b ,+,2, '+'3 , J = , ,
f)f:P
H
9Hj = arPj =9Hj(rPl,rP2,rP3); j = 1,2,3
Equations (11.24-26) are now given in the matrix form as
[m=
[ 9lf'
912
YH'l
[ ~ : l
II
y
( 11.27)
9Hl 9H
2
9H3
9Hl 9H2 9}/3
or in a more compact form
V
H
=Jw (11.28)
where
V
H
=
[ ~ ! l
( 11.29)
[ 9k,
x
9
if
'l
9H2
J = 9'fI
1
y
(11.30)
9H2 9H3
9HI 9H2 9H3
and
~ =
[ ~ l
(11.31 )
The matrix J is called the Jacobian and it transforms the joint velocities W to the end-effector
velocities J6i. In general, the dimension of the Jacobian is 3 x n where n is the number of
I-DOF joints in the manipulator.
Example 3
Consider the 3R planar arm shown in Figure 11.5. The position equations for this
manipulator are given by
223
V
x
x + x + X (11 2 A )
H = gHl Wt 9112W2 .qU:IW3 . "
where the lir:;t-order partial derivatives of XJJ are defined a:; the ;c cOlllPonents of the trans-
latioTla.J g-flll1ctions:
Similarly,
V
y
- y + II + II
H - 9H
1
WI 9H2W2 9H3W3
nH = 9H
1
Wl + 9H
2
W
2 + 9 H3W3
(11.25)
(11.26)
where translational g-functions along the y-axis, 9lJ;j) and rotational g-functions, 9Hj, are
defined as
y - oy H _ II (..I. ..I. ..I.). . 1 2 3
9Hj - Oj - 9Hj 'f'b 'f'2, 'f'3 , J = , ,
f)(PH
9Hj = Oj =9Hj(t,2,3)i j = 1,2,3
[m=
[11
iH2
9H, ]
[ ~ : ]
II II
( 11.27)
9Hl 9H
2
9H3
9 H1 9H2 9}/3
V
H
=Jw (11.28)
where
V
H
=
[ ~ ! ]
( 11.29)
[ 9HI
x
9r' ]
9H2
J = 9lJ;1
II
(11.30)
9H2 9H3
9 Hl 9H2 9 H3
and
!:!l=
[:]
(11.31 )
velocities}Cy. In general, the dimension of the Jacobian is 3 x n where n is the number of
1-DOF joints in the manipulator.
Example 3
Consider the 3R planar arm shown in Figure 11.5. The position equations for this
223
V
x
x + x + x (11 2 A)
H = gHl Wl 9112W2 .QU;,W3 . ' I
where the lir:>t-order partial derivat.ives of XJl are defined at> the ;c colllPonents of the trans-
latioTla.J g-fllnctions:
Similarly,
V
y
- y + II + II
H - 9Hl WI 9H2W2 9H3W3
OH = 9H
1
W1 + 9H
2
W
2 + 9H3W3
(11.25)
(11.26)
where translational g-functions along the y-axis, 9'f;j) and rotational g-functions, 9Hj , are
defined as
II _ oy H - II (..I. ..I. ..I.). . 1 2 3
9Hj - o>j - 9Hj '1'1) '1'2, '1'3 , J = , ,

9Hj = O>j =9Hj(>1,>2, >3) i j = 1, 2, 3
=
[ 9lf'
9i1
2
9H']
[
II II
( 11.27)
9Hl 9H
2
9H3
9Hl 9H2 9J/3
V
H
=Jw ( 11.28)
where
V
H
=

( 11.29)
[ 9k,
x
9
lf
']
9H2
J = 9'f;1
II
(11.30)
9H2 9H3
9 Hl 9H2 9H3
and
!:!:1.=
[ ::]
(11.31 )
velocities J6i. In general, the dimension of the Jacobian is 3 x n where n is the number of
1-DOF joints in the manipulator.
Example 3
Consider the 3R planar arm shown in Figure 11.5. The position equations for thi s
223
and
Figure 11.5 3R manipulator
Differentiation of these equations yields the translational g-functions
9il
l
= -al sin <PI - a2 sin( <PI + <P2) - a3 sin( <PI + <P2 + <P3)
911
2 = -a2 sin( <PI + <P2) - a3 sin( <PI + <P2 + <P3)
9H3 = -a3 sin( <PI + <P2 + <P3)
9'h
1
= al cos <PI + a2 cos( <PI + <P2) + a3 cos( <PI + <P2 + <P3)
9'h
2
= a2 cos( <PI + <P2) + a3 cos( <PI + <P2 + <P3)
9'h3 = a3 cos( <PI + <P2 + <P3)
and the rotational g-functions
9H l = 1
9H2 = 1
9H3 = 1
The Jacobian in this case is a square matrix. In order to perform the inverse velocity analysis
we need to invert the Jacobian which is possible only if it is nonsingu lar; that is, det (J) =I O.
In general, if the Jacobian is non-square, and n < m, there will be no solution to the inverse
velocity analysis problem, and in such cases we can make the ,Ja.cobian square by reducing
m (by reducing the requirements on the end-effector kinematics). In any case, if the inverse
of the Jacobian exists, solution to the inverse velocity problem is given by
224
and
9il
l
= -aI sin <P1 - a2 sin( <P1 + <P2) - a3 sin( <P1 + <P2 + <P3)
911
2 = -a2 sin( <P1 + <P2) - a3 sin( <PI + <P2 + <P3)
9H3 = -a3 sin( <PI + <P2 + <P3)
9'h
1
= al cos <P1 + a2 cos( <PI + <P2) + a3 cos( <PI + <P2 + <P3)
9'h
2
= a2 cos( <PI + <P2) + a3 cos( <PI + <P2 + <P3)
9k3 = a3 cos( <PI + <P2 + <P3)
9H l = 1
9H2 = 1
9H3 = 1
we need to invert the Jacobian which is possible only if it is nonsingular; that is, det (J) =f O.
vclocity analysis problem, and in such cases we can make the ,Ja.cobian square by reducing
m (by reducing the requirements on the end-effector kinematics). In allY casc, if the illverse
224
and
9il
l
= -at sin <PI - a2 sin( <PI + <P2) - a3 sin( <PI + <P2 + <P3)
911
2 = -a2 sin( <PI + <P2) - a3 sin( <PI + <P2 + <P3)
9H3 = -a3 sin( <Pt + <P2 + <P3)
9 ~ 1 = al cos <PI + a2 cos( <PI + <P2) + a3 cos( <PI + <P2 + <P3)
9 ~ 2 = a2 cos( <PI + <P2) + a3 cos( <P1 + <P2 + <P3)
9k3 = a3 cos( <PI + <P2 + <P3)
9H l = 1
9H2 = 1
9H3 = 1
we need to invert the Jacobian which is possible only if it is nonsingular; that is, det (J) f O.
velocity analysis problem, and in such cases we can make the ,Ja.cobian square by reducing
m (by reducing the requirements on the end-effector kinematics). In allY case, if the illverse
224
Example 4
1\ 2- nOF, 2ft plana.r rohot is shown in Figure 11.6. Find the singular positions for
this manipulator.
and
and
The position equations for this arm are given by
Figure 11.6 2R planar arm
Differentiating these equations we obtain
gH2 = -a2 sin( <PI + <P2)
g ~ l = aI cos <PI + a2 cos( <PI + <P2)
g ~ 2 = a2 cos( <PI + <P2)
The Jacobian for this case is expressed as
[
-aI sin <PI - a2 sin( <PI + <P2)
J = aI cos <PI + a2 cos( <PI + <P2)
1
225
Example 4
1\ 2- nOF, 2ft plana.r rohot is shown in Figure 11.6. Find the singular positions for
this manipulator.
and
and
9H2 = -a2 sin( <h + 4>2)
9fTl = a1 cos 4>1 + a2 cos( 4>1 + 4>2)
9fT2 = a2 cos( 4>1 + 4>2)
[
-a1 sin 4>1 - a2 sin( 4>1 + 4>2)
J = a1 cos 4>1 + a2 COs(4)l + 4>2)
1
225
~ - . - - - ----- --- -
Example 4
/\ 2- nOF, 2ft pla.lla.r rohot is shown in Figure 11.6. Find the singular positions for
this manipulator.
and
and
9H2 = -a2 sin( <PI + <P2)
91
1
= al cos <PI + a2 cos( <PI + <P2)
91
2
= a2 cos( <PI + <P2)
[
-al sin <PI - a2 sin( <PI + <P2)
J = al cos <PI + a2 COS( <PI + <P2)
1
225
. - - - - ---- --- -
and the end-effector velocity is
In this problem the Jacobian is 2 x3, and we can force it to be square by specifying only two
output parameters, say VA and Vk Then,
[
VJ] _ [-a1 sin 4>1 - a2 sin( 4>1 + 4>2)
V ~ - at cos 4>t + a2 cos( 4>t + 4>2)
where the determinant of the Jacobian is
For the Jacobian to be nonsingular we require that
ala2 sin 4>2 =f 0
However, at =f 0 and a2 =f 0 imply that
4>2 =f k7r; k = 0, 1,2, ...
Under these conditions we can invert the Jacobian and write the joint velocities in terms of
the end-effector velocities as follows:
We can investigate the physical significance of singularities as follows: In the case of the 2R
arm considered in the example, singularity occurs at
4>2 = k7r; k = 0, 1,2, ...
This condition implies that the singular configuration of the system is as shown in Figure
11.7. Since the arm is fully stretched out (or fully retracted), no matter what input is given
at the two joints the end-effector can only traverse the circumference of the circle whose
radius is
r = at a2
Thus the velocity of the end-effector can only have a tangential component and cannot have
a non-zero radial component.
Example 5
For the PR manipulator arm in Figure 11.S, the Jacobian for the end-effector is
derived from the position equations as follows:
XH = Sl cos f3 + a2 cos <1>2
226
output parameters, say VII and Vk Then,
[
VJ] _ [-a1 sin 4>1 - a2 sin( 4>1 + 4>2)
V ~ - a1 cos 4>1 + a2 cos( 4>1 + 4>2)
a1
a
2 sin 4>2 =f 0
However, a1 =f 0 and a2 =f 0 imply that
4>2 =f br; k = 0, 1,2, ...
'vVc can investigate the physical significance of singularities as follows: In the case of the 2R
4>2 = br; k = 0, 1,2, ...
radius is
r = a1 a2
Example 5
226
output parameters, say VII and Vk Then,
[
VJ] _ [-a1 sin 4>1 - a2 sin( 4>1 + 4>2)
V ~ - at cos 4>t + a2 cos( 4>t + 4>2)
ala2 sin 4>2 =f 0
However, at =f 0 and a2 =f 0 imply that
4>2 =f br; k = 0, 1,2, ...
vVc can investigate the physical significance of singularities as follows: In the case of the 2R
4>2 = br; k = 0, 1,2, ...
radius is
r = at a2
Example 5
226
full y extended
Figure 11.7 Singular configurations of the 2R arm
Figure 11.8 PR arm and its singular configuration
YH = 81 sin f3 + a2 sin cI>2
which has the Jacobian
the determinant for which is
det (J) = a2 cos( cI>2 - (3)
In the singularity position, determinant of the Jacobian becomes zero
cos( cI>2 - (3) = 0
or
7r
cI>2 = f3+ (2k+ 1)2"; k = 0,1,2 ...
227
full y extended
YH = 81 sin (3 + a2 sin cI>2
det (J) = a2 cos( cI>2 - (3)
cos( cI>2 - (3) = 0
or
7r
cI>2 = (3+ (2k+ 1)2 ; k = 0,1,2 ...
227
full y extended
YH = 81 sin fJ + a2 sin cT>2
det (J) = a2 cos( 4>2 - fJ)
cos( 4>2 - fJ) = 0
or
11'"
4>2 = fJ+ (2k+ 1)2 ; k = 0,1,2 ...
227
and in this configuration no velocity can be specified along the tangential direction.
Example 6
For the same manipulator considered in Example 5, the followings are given:
f3 = 30, <1>2 = 90, SI = 0.5 m, a2 = 0.2 m
(a) Determine V
H
and if the joint velocities are
. 1 -1
SI = ms ,
(b) Determine the joint velocities, SI and W2, if
(a)
(b)
TfX 5 -I
YH = ms , = 10 ms-
l
-a
2
sin<1>2] = [
0
866 -0
0
.2]
a2 cos <1>2 0.5
W =
= L1
0
] = .. ;34] ms-
I
w = J-1V
- -H
det (J) = 0.866(0) - 0.5( -0.2) = 0.1
= 0\ LSo] =
11.4 Acceleration Analysis
In the previous section we derived the end-effector velocity in terms of the joint
velocities as
3
VB = L 9H"Wk (11.32)
k=l
By differentiating this expression with respect to time, we obtain the acceleration of the
end-effector as
3
x '"'('x X)
aH = L..J 9H"Wk + 9Hl:CXk
(11.33)
k=l
where CXk = Wk. Since the g-functions are functions of the joint displacements, we express
the time derivative of these functions as
(11.34)
228
Example 6
(3 = 30, <1>2 = 90, SI = 0.5 m, a2 = 0.2 m
(a) Determine Vii and if the joint velocities are
. 1 -1
SI = ms ,
(a)
(b)
TfX 5 -I
YH = ms ,
J = -a
2
sin<1>2] = [0.866 -0
0
.2]
SIll (3 a2 cos <1>2 0.5
W =
= L
1
0] = .. ;34] ms-1
W = J-1V
- -H
det (J) = 0.866(0) - 0.5( -0.2) = 0.1
= 0\ L5
0
] =
velocities as
3
VB = L 9H
k
W
k (11.32)
k=1
end-effector as
3
x '"'('x X)
aH = 9H
k
W
k + 9Hl:Qk
( 11.33)
k=1
where Qk = Wk. Since the g-functions are functions of the joint displacements, we express
(11.34)
228
Example 6
f3 = 30, <1>2 = 90, SI = 0.5 m, a2 = 0.2 m
( a) Determine V
H
and if the joint velocities are
. 1 -1
SI = ms ,
(a)
(b)
TfX 5 -1
YH = ms ,
J = -a2sin<1>2] = [0.866 -0.2]
SIll f3 a2 cos <1>2 0.5 0
W =
= L
1
0] = [- .. ;34] ms-
1
W = J-
1
V
- -H
det (J) = 0.866(0) - 0.5( -0.2) = 0.1
= 0\ L5
o
] = .::=: ]
velocities as
3
VB = L lHkWk (11.32)
k=l
end-effector as
3
x '"'('x X)
aH = 9H
k
W
k + 9H ..
a
k
(11.33)
k=1
where ak = Wk. Since the g-functions are functions of the joint displacements, we express
(11.34)
228
The first partial derivatives of g-functions with respect to joint displacements (second partial
derivatives of the position-dependent functions, XH, YH, etc.) are now defined as h-functions:
(11.35)
It is important to note that the h-functions, similar to the g-functions, are only geometry-
dependent functions. Using this definition, the x component of the translational acceleration
of the end-effector, all, is written as
3 3 3
a
H
= L9Hl:Qk + L L hHjl:WjWk
k=1 ]=1 k=1
(11.36)
For a three-link arm this expression becomes
+hH21 W2
W
l + + hn23w2W3 + hH31 W3
W
l + hH32W3W2 + hnaaw;
Similarly, the Y component of the linear end-effector acceleration, and the rotational accel-
eration are expressed in terms of the h-functions. The total end-effector acceleration is then
given by

[ glf'
r
glf3] [0] [ w
T
[h" Jw ]
9H2
+
Y
9H1 9H2 9Ha
9Hl 9H2 9
H
3
Q3 wT[hH]f:!L
(11.37)
where
[hHU
hH12
h
H
>3]
[hnl =
h
r
h
r
p
H21 H22
H
23
h
r
h
r
h
r
H31 H32 H33
(11.38)
[ h'
h
Y
]
Hll H12
=

(11.39 )
and
[hHU
hH12
h
H
>3]
[hHl = hH21 hH22 hH23
hH31 hH32 hH33
(11.40)
For a 3R planar arm,
<PH = 4>1 + 4>2 + 4>3
and the rotational g-functions are given by
Therefore, the rotational h-functions become
h
Hii
= 0; i = 1,2,3; j = 1,2,3
229
derivaLives of the position-dependent functions, XH, YH, etc.) are now defined as h-functions:
(11.35)
dependent functions . Using this definition, the x component of the translational acceleration
of the end-effector, all' is written as
(11.36)
For a tLree-link arm this expression becomes
+h'H
21
W2
W
l + + h'H
23
w
2
W
3 + h'H31 W3
W
l + h'H
32
w
3
w
2 + h'H33
w
;
given by
(11.37)
where
[hilu
hH12
hil" 1
[h'Hl = hH21
h
X
P
H22
H
23
h
X
h
X
h
X
H31 H32 H33
(11.38)
[ h'
h
Y
1
Hll H12
=

h
Y
H31
(11.39 )
and
[hHU
hH12
hH" 1
[hHl = hH21 hH22 hH23
hH31 hH32 hH33
(11.40)
<PH = 4>1 + 4>2 + 4>3
h
Hii
= 0; i = 1,2,3; j = 1,2,3
229
derivaLives of the position-dependent functions, XH, YH, etc.) are now defined as h-functions:
(11.35)
dependent functions . Using this definition, the x component of the translational acceleration
of the end-effector, a,l, is written as
(11.36)
For a tbree-link arm this expression becomes
+h
HZ1
W2
W
l + + hH23W2W3 + hH31 W3
W
l + hH32W3W2 + hH33W;
given by

[ 9lf'
r
9lf3 ]
[a] [ wT[hX ]w ]
9H2
!I
+
9Hl 9H2 9H3
9Hl 9H2 9
H
3
03 wT[hH]f:L
(11.37)
where
[hif"
h
HlZ
hif" ]
[hyl = h
r
h
X
p
HZl HZ2
H
23
h
X
h
X
P
H31 H32 H33
( 11.38)

h
Y
]
H12
=

(11.39 )
and
[hHU
hH12
hH" ]
[hH] = hH21
hHz2 hH23
hH31 hH32 hH33
(11.40)
<PH = 4>1 + 4>2 + 4>3
229
Finally, we describe the forward acceleration equation as
(11.41)
where the three-dimensional vector [(1!.,w) is
The expression f( </J, w) contains terms relating to the centrifugal and Coriolis components of
acceleration, wh"Tle Ja gives the tangential component of the acceleration. In the expansion
of f(1!., w), the centrifugal components of acceleration come from the terms
hww for
I) I ) Z = J
and the Coriolis components come from the terms
In its simplest form, the above acceleration components are seen on a one-link
arm. Assume that this single link (say, a crank) of length e rotates with an angular velocity
w, and an angular acceleration a. The acceleration at the free end of this link will not
have a Coriolis component since we are only dealing with a single link, while its tangential
acceleration component will be given by ea and the centrifugal component by ew
2

In the inverse acceleration analysis we want to determine the joint accelerations for
a givell end-effector acceleration. For this we assume that the position and velocities of the
links arc known through a position and velocity analysis. This means that the velocity-related
acceleration components-the centrifugal and Coriolis components--of the acceleration are
known. Then, the joint accelerations (g) are calculated from Equation (11.41):
(11.42)
provided that J-
1
exists.
Example 7
For the 2R manipulator shown in Figure 11.9, the following data are given. Deter-
mine the acceleration of the end-effector.
3
-1
WI = S , 4
-1
W2 = - S
5
-2
Ci2 = S
We first write the position equations for the end-effector:
230
(11.41)
where the three-dimensional vector is
The expression f( </J, w) contains terms relating to the centrifugal and Coriolis components of
acceleration, wh"Tle Jo: gives the tangential component of the acceleration. In the expansion
h ww for
.) )
z =)
acceleration component will be given by fa and the centrifugal component by fw
2

links are known through a position and velocity analysis. This means that the velocity-related
known. Then, the joint accelerations (g) are calculated from Equation (11.41):
(11.42)
provided that J-
1
exists.
Example 7
3
-1
WI = S , 4
-1
w2 = - S
0:2 = 5 s-2
230
(11.41)
where the three-dimensional vector is
The expression f( <P, w) contains terms relating to the centrifugal and Coriolis components of
acceleration, wh"Tle Ja gives the tangential component of the acceleration. In the expansion
h ww for z = J
'J , J
acceleration component will be given by fa and the centrifugal component by fw
2

links arc known through a position and velocity analysis. This means that the velocity-related
known. Then, the joint accelerations (g.) are calculated from Equation (11.41):
(11.42)
provided that J-
1
exists.
Example 7
al = 0.4 m, a2 = 0.2 m, <PI = 0, </;2 = 90
3
-1 4 -1
WI = 8 , w2 = - s
al = 10 S-2, a2 = 5 8-
2
230
Figure 11.9 2R planar manipulator
YH = al sin l + a2 sin( l + 2)
iPH = l + 2
and by differentiating these expressions with respect to l and 2 we obtain the expressions
for the elements of the Jacobian
9H2 = -a2 sin( l + 2) = -0.2 m
and by further differentiating these, the translational h-function components are derived:
hHn = -al cos l - a2 cos( l + 2) = -0.4 m
hH12 = hH21 = -a2 cos( 1 + 2) = 0.0 m
hH22 = -a2 cos( l + 2) = 0.0 m
Now the x component of the acceleration of the end-effector is evaluated as
Repeating this for the y and the angular components of the acceleration, the g-functions are
obtained:
9'#1 = al cos l + a2 cos( l + 2) = 0.4 m
9'#2 = a2 COS( l + 2) = 0.0 m
9H1 = 1
9H2 = 1
and the corresponding h-functions are
231
YH = al sin <PI + a2 sin(<pI + <P2)
q, H = <PI + <P2
and by differentiating these expressions with respect to <PI and <P2 we obtain the expressions
9H2 = -a2 sin( <PI + <P2) = -0.2 m
hHu = -aI cos <PI - a2 cos( <PI + <P2) = -0.4 m
hH12 = hH21 = -a2 cos( <PI + <P2) = 0.0 m
hH22 = -a2 cos( <PI + <P2) = 0.0 m
N ow the x component of the acceleration of the end-effector is evaluated as
obtained:
9'11 = aI cos <PI + a2 cos( <PI + <P2) = 0.4 m
9'12 = a2 cos( <PI + <P2) = 0.0 m
9Hl = 1
9H2 = 1
231
YH = al sin 4>1 + a2 sin(4)1 + 4>2)
q, H = 4>1 + 4>2
and by differentiating these expressions with respect to cPl and cP2 we obtain the expressions
98
1 = -al sin 4>1 - a2 sin( 4>1 + cP2) = -0.2 m
98
2
= -a2 sin( 4>1 + 4>2) = -0.2 m
hHll = -al cos 4>1 - a2 cos( 4>1 + 4>2) = -0.4 m
hH12 = hH21 = -a2 cos( 4>1 + 4>2) = 0.0 m
hH22 = -a2 cos( 4>1 + 4>2) = 0.0 m
N ow the x component of the acceleration of the end-effector is evaluated as
obtained:
9'11 = al cos 4>1 + a2 COS( 4>1 + 4>2) = 0.4 m
9'12 = a2 cos( 4>1 + 4>2) = 0.0 m
9H1 = 1
9H2 = 1
231
h'k12 = h'k21 = -a2 sin( </>1 + (h) = -0.2 m
h'k22 = -a2 sin( </>1 + </>2) = -0.2 m
hHll = 0
hH12 = hH21 = 0
hH22 = 0
The above arc used to determine the remaining end-effector acceleration components:
-4] [-0.2
-0.2
-0.2] [ 3 ] -2
-0.2 -4 = 3.8 ms
Hence, the total end-effector acceleration is given by
[
ali] [-6.6 mS-
2
]
fiH = q,'k = 3.8 ms-
2
f2H 15 S-2
Example 8
Solve the inverse acceleration problem for a manipulator whose instantaneous elld-
effector a.cceleration is
fiH = [ ~ ] units
Assume that the Jacobian for the end-effector is described by
whereas the Coriolis and centrifugal acceleration components are given by
f = [-3.6]
- -0.2
The corresponding joint acceleration vector a is ca.lculated from Equation (11.42):
or
[
a
1
] = [-0.2 -0.2] -1 { [6] _ [=3.6]} = [ ~ 0 . 5 ] units
a2 0.4 0 8 0.2 68.5
232
hk12 = hk21 = -a2 sin( <PI + 2) = -0.2 m
hk22 = -a2 sin( 1 + 2) = -0.2 m
hHll = 0
hH12 = hH21 = 0
hH22 = 0
-4] [-0.2
-0.2
-0.2] [ 3 ] -2
-0.2 -4 = 3.8 ms
[
ali] [-6.6 mS-
2
]
fiH = ~ k = 3.8 ms-
2
f2H 15 S-2
Example 8
Solve the inverse acceleration problem for a manipulator whose instantaneous end-
effector acceleration is
fiH = [ ~ ] units
f = [-3.6]
- -0.2
or
[
a}] = [-0.2 -0.2] -1 { [6] _ [=3.6]} = [ ~ 0 . 5 ] units
a2 0.4 0 8 0.2 68.5
232
hk12 = hk21 = -a2 sin( <PI + 2) = -0.2 m
hk22 = -a2 sin( 1 + 2) = -0.2 m
hHll = 0
hH12 = hH21 = 0
hH22 = 0
-4] [-0.2
-0.2
-0.2] [ 3 ] -2
-0.2 -4 = 3.8 ms
[
ali] [-6.6 mS-
2
]
fiH = ~ k = 3.8 ms-
2
f2H 15 S-2
Example 8
Solve the inverse acceleration problem for a manipulator whose instantaneous end-
effector acceleration is
fiH = [ ~ ] units
f = [-3.6]
- -0.2
or
[
a}] = [-0.2 -0.2] -1 { [6] _ [=3.6]} = [ ~ 0 . 5 ] units
a2 0.4 0 8 0.2 68.5
232

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