Академический Документы
Профессиональный Документы
Культура Документы
1
Tool Configuration vector
2
Tool Configuration vector
• Last column of R, Approach vector direction n
which tool pointed
• Rotation abt approach vector-roll
• It contains pitch and yaw information
• Need to augment roll information with this approach
vector
• If simply added , 4 components, not a minimal
representation X
3
Tool Configuration vector
• The size or length of approach vector can be scaled
by a positive quantity without changing direction
• We use an invertible function of tool roll angle, qn
• f-1 exists
4
Tool Configuration vector
5
Tool Configuration vector
• Three axis planar articulated robot
0 0 1 d3
0 0 0 1
a1C1 a2C12
a S a S
1 1 2 12
w (q ) d3
0
0
q3
( )
e
6
Tool Configuration vector
• Five axis robot
7
Tool configuration Jacobian
• Once a trajectory is planned in the tool configuration
space one must then address the problem of
commanding the robot to follow that trajectory
V(q)
Joint velocity Tool velocity
10
Tool configuration Jacobian (contd…)
• Linear transformation which maps instantaneous
joint space velocity into instantaneous tool velocity
• For a 3 axis planar robot C123 S123 0 a1C1 a2C12
S C 0 a S a S
Tool
Tbase 123 123 1 1 2 12
0 0 1 d3
0 0 0 1
a1C1 a2C12 a1 S1 a 2 S12 a 2 S12 0
a S a S a C a C a 2C12 0
1 1 2 12 1 1 2 12
0
w (q )
d3 0 0
V (q ) 0 0 0
0
0 0 0 0
q3
( ) q3
e
0 0
e
11
Manipulator Jacobian
13
Manipulator Jacobian (contd…)
• Thus du represent both linear and angular
displacement of the tool
Operating point(q)
J(q)
Joint Displacement Tool Displacement
14
Manipulator Jacobian (contd…)
A(q)
• Let J (q) where, dp A(q)dq & d B(q)dq
B(q)
dp dq
• A(q ) The 3×n Jacobian submatrix A(q)can be
dt dt
interpreted as a linear transformation which maps
to tool tip velocity p
instantaneous joint velocity q
15
Manipulator Jacobian (contd…)
• Differentiating tool tip position function p(q) with
respect to time p
dp ( q )
(q) q
dq
A( q ) dp ( q )
dq
pk ( q )
Akj ( q ) ;1 k 3 & 1 j n
q j
16
Manipulator Jacobian (contd…)
• bk(q) represents a set of gains or constants of
proportionality which relate the displacement of
joint k to the angular tool displacement dφ when all
other joints are motionless
• If joint k is prismatic no angular tool displacement
induced by the linear motion along zk-1 axis
17
Manipulator Jacobian (contd…)
• Hence bk(q) can be written as
b k (q) k z k 1 (q);1 k n
• k 0 Prismatic Jt
• k 1 Revolute Jt
• Let i3 be the co-ordinates of zk-1 with respect to
frame Lk-1.
• Then transforming to base co-ordinates
k 1 k 1
z (q ) R
0 (q ) i 3
18
Manipulator Jacobian (contd…)
• Let F tool R6 denote the vector of external forces
and moments applied at the tool tip due to either a
load or contact with the environment
f tool
F tool tool
• ftool 3×1 force vector acting at the tool tip
• ηtool 3×1 moment vector acting at the tool tip
• Let R 6 denote the vector of joint torques and
forces
• Let J(q) be the manipulator jacobian matrix of the
robot arm with frictionless joints
19
Manipulator Jacobian (contd…)
• If joint k is revolute τk represents the torque about k
axis
• If joint k is prismatic τk represents the force along k
axis
20
Manipulator Jacobian (contd…)
• The work performed which has units of energy must
be same regardless of the coordinate system within
which it is measured or expressed.
• The work done by an infinitesimal displacement du
of the tool is
21
Manipulator Jacobian (contd…)
• But
22
Manipulator Jacobian (contd…)
• Then J T (q)F tool
Operating point(q)
F tool JT(q)
Tool Forces & Moments Joint torques & forces
23