Kinematic model of industrial robots
Transcription
Kinematic model of industrial robots
Kinematic Model of Robot Manipulators Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 1 / 164 Summary 1 Kinematic Model 2 Direct Kinematic Model 3 Inverse Kinematic Model 4 Differential Kinematics 5 Statics - Singularities - Inverse differential kinematics 6 Inverse kinematics algorithms 7 Measures of performance C. Melchiorri (DEIS) Kinematic Model 2 / 164 Kinematic Model Introduction Kinematic Model In robotics, there are two main ‘kinematic’ problems: 1. Forward (direct) Kinematic Problem: once the joint position, velocity, acceleration are known, compute the corresponding variables of the end-effector in a given reference frame (e.g. a Cartesian frame). =⇒ Forward kinematic model: a function f defined between the joint space IRn and the work space IRm : x = f(q) C. Melchiorri (DEIS) x ∈ IRm , q ∈ IRn Kinematic Model 3 / 164 Kinematic Model Introduction Kinematic Model 2. Inverse Kinematic Problem: computation of the relevant variables (positions, velocities, accelerations) from the work space to the joint space. =⇒ Inverse Kinematic Model: function g = f −1 from IRm to IRn : q ∈ IRn , x ∈ IRm q = g(x) = f −1 (x) Some common (somehow arbitrary) definitions must be adopted ⇒ for the same manipulator, different (although equivalent) kinematic models can be defined. C. Melchiorri (DEIS) Kinematic Model 4 / 164 Kinematic Model Introduction Kinematic Model – Example: a 2 dof planar robot Forward kinematic model: x = l1 cos θ1 + l2 cos(θ1 + θ2 ) y = l1 sin θ1 + l2 sin(θ1 + θ2 ) Inverse kinematic model: cos θ2 = x02 + y02 − l12 − l22 , 2l1 l2 sin θ2 = ± q (1 − cos2 θ2 ) θ2 = atan2(sin θ2 , cos θ2 ) φ = k1 = l1 + l2 cos θ2 , θ1 + θ2 sin θ1 = An easy problem... y0 k1 − x0 k2 , k2 + k2 1 2 k2 = l2 sin θ2 cos θ1 = y0 − k1 sin θ1 k2 θ1 = atan2(sin θ1 , cos θ1 ) • The solution is not so simple. • Two possible solutions (sign of sin θ2 ). C. Melchiorri (DEIS) Kinematic Model 5 / 164 Kinematic Model Introduction Kinematic Model Homogeneous Transformations are used for the definition of the kinematic model. A robotic manipulator is a mechanism composed by a chain of rigid bodies, the links, connected by joints. A reference frame is associated to each link, and homogeneous transformations are used to describe their relative position/orientation. C. Melchiorri (DEIS) Kinematic Model 6 / 164 Kinematic Model Introduction Kinematic Model A convention for the description of robots. Each link is numbered from 0 to n, in order to be univocally identified in the kinematic chain: L0 , L1 , . . . , Ln . =⇒ Conventionally, L0 is the “base” link, and Ln is the final (distal) link. Each joint is numbered, from 1 to n, starting from the base joint: J1 , J2 , . . . , Jn . =⇒ According to this convention, joint Ji connects link Li −1 to link Li . A manipulator with n + 1 links has n joints. C. Melchiorri (DEIS) Kinematic Model 7 / 164 Kinematic Model Introduction Kinematic Model The motion of the joints changes the end-effector position/orientation in the work space. The position and the orientation of the end-effector result to be a (non linear) function of the n joint variables q1 , q2 , ..., qn , i.e. p = f(q1 , q2 , ..., qn ) = f(q) q = [q1 q2 . . . qn ]T is defined in the joint space IRn , p is defined in the work space IRm . Usually, p is composed by: some position components (e.g. x, y , z, wrt a Cartesian reference frame) some orientation components (e.g. Euler or RPY angles). C. Melchiorri (DEIS) Kinematic Model 8 / 164 Kinematic Model Denavit-Hartenberg Parameters Kinematic Model Need of defining a systematic and possibly unique method for the definition of the kinematic model of a robot manipulator: DENAVIT-HARTENBERG NOTATION A reference frame is assigned to each link, and homogeneous transformations matrices are used to describe the relative position/orientation of these frames. The reference frames are assigned according to a particular convention, and therefore the number of parameters needed to describe the pose of each link, and consequently of the robot, is minimized. C. Melchiorri (DEIS) Kinematic Model 9 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Problem: How to assign frames to the links in order to minimize the number of parameters? Generally speaking, 6 parameters are necessary to describe the position and the orientation of a rigid body in the 3D space (a rigid body has 6 dof), and therefore 6 parameters are required to describe Fb in Fa . Under some hypotheses, only 4 parameters are required: the Denavit-Hartenberg Parameters. Given two reference frames F0 and F6 in the 3D space, 4 cases are possible: C. Melchiorri (DEIS) Kinematic Model 10 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Most general case: Skew Axes. PROBLEM: Find a sequence of elementary homogeneous transformations relating two generic reference frames F0 e F6 , with skew axes z0 and z6 . SOLUTION: Infinite solutions are possible. It is desirable to define A sequence so that the kinematic model is defined univocally and using the minimum number of parameters. C. Melchiorri (DEIS) Kinematic Model 11 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure A common normal n exists among two skew z axes. Let us define: d the distance between the origin of F0 and the intersection point of z0 with n a the distance between z0 and z6 along n Apply the following sequence of translations/rotations: 1 Translate the origin of F0 along z0 for the quantity d: the frame F1 is obtained 2 Rotate (ccw) F1 about z1 by the angle θ until x1 is aligned with n:F2 is obtained 3 Translate F2 along x2 (= n) for a: F3 is obtained, with origin on the z6 axis 4 Rotate (ccw) F3 about x3 by α, so that z3 is aligned with z6 : F4 is obtained 5 Translate F4 along z4 for the quantity b until F6 : the frame F5 is obtained 6 Rotate F5 about z5 by the angle φ: F6 is reached C. Melchiorri (DEIS) Kinematic Model 12 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters - Procedure C. Melchiorri (DEIS) Kinematic Model 13 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Six cyclic transformations have been employed to move from F0 to F6 : 3 translations and 3 rotations. There is a translation-rotation pattern: 0 T6 = Tras(z0 , d)Rot(z1 , θ)Tras(x2 , a)Rot(x3 , α)Tras(z4 , b)Rot(z5, φ) (1) The first 4 transformations are of particular interest: 2 couples of translations and rotations about two axes (note that z0 = z1 and x2 = x3 ): 0 H4 = = C. Melchiorri (DEIS) Tras(z0 , d)Rot(z1 , θ)Tras(x2 , a)Rot(x3 , α) Cθ −Sθ Cα Sθ Sα aCθ Sθ Cθ Cα −Cθ Sα aSθ 0 Sα Cα d 0 0 0 1 Kinematic Model 14 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Matrix 0 T6 can be expressed in terms of H matrices by adding to (1) a null translation along x6 , obtaining the frame F7 a null rotation about x7 , obtaining the frame F8 Therefore we have 0 T8 = Tras(z0 , d)Rot(z1 , θ)Tras(x2 , a)Rot(x3, α) Tras(z4 , b)Rot(z5 , φ)Tras(x6 , 0)Rot(x7 , 0) that is expressed by cyclic transformations. C. Melchiorri (DEIS) Kinematic Model 15 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters If another frame F12 is given, it is possible to move from F6 to F12 by means of a sequence similar to (1). Then, the transformation from F0 to F12 is 0 T12 = 0 H4 Tras(z4 , b)Rot(z5 , φ)Tras(z6 , d ′ )Rot(z7 , θ′ )Tras(x8 , a′ )Rot(x9 , α′ ) Tras(z10 , b ′ )Rot(z11 , φ′ )Tras(x12 , 0)Rot(x13 , 0) Since a translation and a rotation about the same axis may commute, i.e. Rot(z5 , φ)Tras(z6 , d ′ ) = Tras(z6 , d ′ )Rot(z5 , φ) we have that Tras(z4 , b)Rot(z5 , φ)Tras(z6 , d ′ )Rot(z7 , θ′ ) = Tras(z4 , b)Tras(z6 , d ′ )Rot(z5 , φ)Rot(z7 , θ′ ) = Tras(z4 , b + d ′ )Rot(z5 , φ + θ′ ) C. Melchiorri (DEIS) Kinematic Model 16 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters In conclusion, the transformation between F0 and F12 is expressed by two DH transformations expressed by H matrices: the first one with parameters d, θ, a, α, the second one with parameters (b + d ′ ), (φ + θ′ ), a′ , α′ (and a third one with parameters b ′ , φ′ , 0, 0). C. Melchiorri (DEIS) Kinematic Model 17 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters In general, only frames F0 and F4 are of interest, and not the intermediate ones (F1 -F3 ). Therefore, F4 will be indicated from now as F1 . The transformation 0 H4 is then indicated as 0 H1 . 0 H1 = = Tras(z0 , d)Rot(z1 , θ)Tras(x2 , a)Rot(x3 , α) Cθ −Sθ Cα Sθ Sα aCθ Sθ Cθ Cα −Cθ Sα aSθ 0 Sα Cα d 0 0 0 1 The frames associated to each link are used only for the definition of the kinematic model of the robot: usually their position/orientation may be freely assigned and do not depend by other constraints. Therefore, these frames are assigned in order to minimize the number of parameters required for the definition of the kinematic model. C. Melchiorri (DEIS) Kinematic Model 18 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters As a matter of fact, if F0 and F6 are two frames associated to two consecutive links, and the position and orientation of F6 are not constrained by other considerations, it is possible to choose F4 as the frame of the second link (NOT F6 ), reducing in this manner to 4 the number of parameters: b and φ are not necessary. Then, the transformation between two consecutive links is 0 H4 . C. Melchiorri (DEIS) Kinematic Model 19 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters In conclusion: Although in general 6 parameters are necessary to specify the relative position and orientation of two frames F0 and F1 , only 4 parameters are sufficient (d, θ, a, α) by assuming that: 1 2 The axis x1 intersects z0 The axis x1 is perpendicular to z0 These parameters are known as the Denavit-Hartenberg Parameters. C. Melchiorri (DEIS) Kinematic Model 20 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Consider now a generic manipulator. C. Melchiorri (DEIS) Li −1 , Li : consecutive links Ji ed Ji +1 i relative joints The motion axis of Ji defines the direction of zi −1 (frame Fi −1 ) associated to the proximal link zi (Fi ) is aligned with the motion axis of the following joint The origin of Fi is at the intersection of zi with the common normal ai between zi −1 and zi If a common normal does not exist (ai = 0), the origin of Fi is placed on zi −1 If the two axes intersect, the origin is placed at the intersection If the two axes coincide, also the origins of Fi −1 and Fi coincide xi (Fi ) is directed along the common normal yi is chosen in order to obtain a proper frame. Kinematic Model 21 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Conclusion: the position and the orientation of two consecutive frames, and therefore of the related links, may be defined by the four Denavit-Hartenberg parameters: ai = length of the common normal between the axes of two consecutive joints αi = ccw angle between zi −1 the axis of joint i, and zi , axis of joint i + 1 di = distance between the origin oi −1 of Fi −1 and the point pi , θi = ccw angle between the axis xi −1 and the common normal piˆoi about zi −1 . C. Melchiorri (DEIS) Kinematic Model 22 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters The parameters ai and αi are constant and depend only on the link geometry: ai αi is the link length is the link twist angle between the joints’ axes. Considering the two other parameters, depending on the joint type one is constant and the other one may change in time: prismatic joint: rotational joint: C. Melchiorri (DEIS) di is the joint variable and θi is the joint variable and Kinematic Model θi is constant; di is constant. 23 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters The homogeneous transformation matrix relating the frames Fi −1 and Fi is i −1 Hi = Trasl(zi −1 , di ) Rot(zi −1 , θi ) Trasl(xi , ai ) Rot(xi , αi ) 1 0 = 0 0 Cθi Sθi = 0 0 0 1 0 0 0 0 1 0 Cθi 0 Sθi 0 0 di 0 1 −Sθi Cαi Cθi Cαi Sαi 0 −Sθi Cθi 0 0 Sθi Sαi −Cθi Sαi Cαi 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 ai 0 0 0 0 0 1 0 Cαi Sαi 0 0 −Sαi Cαi 0 0 0 0 1 ai Cθi ai Sθi di 1 known as Canonical Transformation. In literature, matrix C. Melchiorri (DEIS) i −1 Hi is also indicated as Kinematic Model i −1 Ai . 24 / 164 Kinematic Model Denavit-Hartenberg Parameters Denavit-Hartenberg Parameters Each matrix i −1 Hi is a function of the i-th joint variable, di or θi depending on the joint type. For notational ease, the joint variable is generically indicated as qi , i.e.: Therefore: qi = di for prismatic joints q i = θi for rotational joints i −1 Hi = i −1 Hi (qi ). In case of a manipulator with n joints, the relationship between frame F0 and frame Fn is: 0 Tn = 0 H1 (q1 ) 1 H2 (q2 )...n−1 Hn (qn ) This equation expresses the position and orientation of the last link wrt the base frame, once the joint variables q1 , q2 , . . . , qn are known. This equation is the kinematic model of the manipulator. C. Melchiorri (DEIS) Kinematic Model 25 / 164 Kinematic Model Denavit-Hartenberg Parameters Reference Configuration of a Canonical Transformation A generic homogenous transformation 0 Tn may be expressed as a function of n canonical transformations 0 Tn = n Y i −1 Hi i =1 If all the rotational joint variables are null, i.e. θi = 0, and all the prismatic joints variables are at the minimum value, i.e. dj = min(dj ) (with θj = 0), the so-called Reference Configuration for 0 Tn is obtained. Note that for prismatic joints the value θj may be imposed by the manipulator structure (and be not null). Also in these cases, it is arbitrarily considered null. A similar consideration holds also for rotational joints (θi = 0): The reference configuration may be non physically reachable by the manipulator. C. Melchiorri (DEIS) Kinematic Model 26 / 164 Kinematic Model Denavit-Hartenberg Parameters Kinematic Model In the reference configuration, the matrices i −1 i −1 Hi = i −1 Hi = i −1 Hi |θi =0; Hi |θi =0 di =min(di ) = = i −1 1 0 0 0 1 0 0 0 0 Cαi Sαi 0 Hi are: 0 Cαi Sαi 0 0 −Sαi Cαi 0 0 −Sαi Cαi 0 ai 0 di 1 ai 0 min(di ) 1 rotational joints prismatic joints The rotational part of these matrices indicates a rotation about the xi axis. Therefore, by composing all the orientation does not change). i −1 Hi , the xi axes results only translated (their In this configuration, all the xi axes have the same direction (they are aligned). C. Melchiorri (DEIS) Kinematic Model 27 / 164 Direct Kinematic Model Procedure for assigning frames Kinematic Model of Robot Manipulators Direct Kinematic Model Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 28 / 164 Direct Kinematic Model Procedure for assigning frames Kinematic Model A procedure to assign frames to the links of a manipulator Need of common conventions, in order to define univocally the kinematic equations. First step: definition of the base frame F0 . In this case it is usually posible to consider not only the kinematic configuration of the manipulator but also other considerations, related e.g. to the work space. However, according to the DH convention, usually F0 is chosen so that z0 coincides with the motion axis of J1 . F0 = ? Fn = ? Also Fn is assigned considering not only the robot’s kinematics, since a motion axis for the last link does not exist. =⇒ F0 and Fn are arbitrarily chosen! C. Melchiorri (DEIS) Kinematic Model 29 / 164 Direct Kinematic Model Procedure for assigning frames Kinematic Model The Denavit-Hartenberg convention does not define univocally the frames associated to the links. As a matter of fact, the frames may be assigned with some arbitrariness in the following cases: 1 F0 : only the direction of z0 may be univocally defined, while in general the origin o0 and the orientation of x0 and y0 are not assigned; 2 Fn : only xn is constrained to be perpendicular to zn−1 (i.e. to Jn ). Since the joint n + 1 does not exist, it is not possible to define the other elements; 3 parallel consecutive axes: it is not defined univocally the common normal line; 4 intersecting consecutive axes: the direction of xi is not defined; 5 prismatic joint: only zi is defined. In these cases, it is possible to exploit the arbitrariness in order to simplify the kinematic model, for example by posing the origin of consecutive frames in the same point, or aligning axes of consecutive frames, and so on. C. Melchiorri (DEIS) Kinematic Model 30 / 164 Direct Kinematic Model Procedure for assigning frames Procedure for assigning the frames The frames are assigned to the links with the following procedure: 1. The joints and links are numbered (joints from 1 to n; links from 0 to n). Links Li −1 and Li are adjacent (proximal and distal, respectively), connected by the joint Ji (whose variable is qi ); 2. Definition of the axes zi , i = 0, . . . , n − 1, aligned with the joint motion directions (rotation/translation); (N.B. zi is the motion direction of joint Ji +1 : z0 → J1 ; z1 → J2 ; . . .) 3. Definition of F0 , with origin in any point of z0 , and axes x0 , y0 ‘properly’ chosen; C. Melchiorri (DEIS) Kinematic Model 31 / 164 Direct Kinematic Model Procedure for assigning frames Procedure for assigning the frames Steps 4 - 6 are repeated for i = 1, . . . , n − 1 4. Definition of Fi . Three cases are possible: a) the axes of joints Ji and Ji +1 have a common normal: the origin of Fi is placed at the intersection point of zi with the common normal between zi −1 and zi b) the axes of Ji e Ji +1 intersect: the origin of Fi is placed at the intersection point between zi −1 and zi c) the axes of joints Ji and Ji +1 are coincident or parallel: if Ji is rotational, the origin of Fi is chosen so that di = 0 if Ji is prismatic, the origin of Fi is placed at a joint limit 5. Definition of xi along the common normal between zi −1 and zi (if exists) with positive direction from Ji to Ji +1 ; if zi −1 intersects zi , then the following joints are considered; 6. Definition of yi in order to obtain a proper frame. C. Melchiorri (DEIS) Kinematic Model 32 / 164 Direct Kinematic Model Procedure for assigning frames Procedure for assigning the frames Finally: 7. Define on coincident with on−1 ; 8. Define xn perpendicular to zn−1 ; 9. If Jn is rotational, choose zn parallel to zn−1 ; If Jn is prismatic, it is possible to choose zn freely; 10. Define yn in order to obtain a proper frame. Note that: The position of on and its orientation zn are arbitrary In this manner, the frame Fn is different wrt the frame of the end-effector t T (with axes n, s, a). Therefore, it is in general necessary to define a constant homogeneous transform matrix to take into account this difference. C. Melchiorri (DEIS) Kinematic Model 33 / 164 Direct Kinematic Model Procedure for assigning frames Procedure for assigning the frames Once the n frames Fi (i = 1, . . . , n) are defined, the corresponding 4n DH parameters di , ai , αi , θi can be easily determined, and therefore also the matrices i −1 Hi can be computed. The kinematic model is then obtained. Then: a) Define the DH Parameters Table b) Compute the homogeneous transformation matrices i −1 Hi , i = 1, . . . , n c) Compute the direct kinematic function 0 C. Melchiorri (DEIS) Tn = 0 H1 1 H2 . . . Kinematic Model n−1 Hn 34 / 164 Direct Kinematic Model Examples Example Let us consider the following 3 dof manipulator: C. Melchiorri (DEIS) Kinematic Model 35 / 164 Direct Kinematic Model Examples Example Step 1: Assign numbers to joints and links C. Melchiorri (DEIS) Kinematic Model 36 / 164 Direct Kinematic Model Examples Example Step 2: Choice of the zi axes (joint rotation/translation motion axes) C. Melchiorri (DEIS) Kinematic Model 37 / 164 Direct Kinematic Model Examples Example Step 3: Choice of F0 C. Melchiorri (DEIS) Kinematic Model 38 / 164 Direct Kinematic Model Examples Example Steps 4 - m: Definition of F1 ... Fn C. Melchiorri (DEIS) Kinematic Model 39 / 164 Direct Kinematic Model Examples Example Finally (optional): choice of the tool frame C. Melchiorri (DEIS) Kinematic Model 40 / 164 Direct Kinematic Model Examples Example Let’s consider a 2 dof planar manipulator: Denavit-Hartenberg parameters L1 L2 The i −1 d 0 0 θ θ1 θ2 a a1 a2 α 0o 0o Hi matrices result: C1 S1 0 H1 = 0 0 C. Melchiorri (DEIS) −S1 C1 0 0 0 0 1 0 a1 C1 a1 S 1 0 1 C2 S2 1 H2 = 0 0 Kinematic Model −S2 C2 0 0 0 0 1 0 a2 C2 a2 S 2 0 1 41 / 164 Direct Kinematic Model Examples Example Then 0 T2 = 0 H1 1 H2 = n s 0 0 a p 0 1 C12 S12 = 0 0 −S12 C12 0 0 0 0 1 0 a1 C1 + a2 C12 a1 S1 + a2 S12 0 1 The vectors n, s, a express the orientation of the manipulator (rotation about z0 ), while p defines the end effector position (plane x0 − y0 ). C. Melchiorri (DEIS) Kinematic Model 42 / 164 Direct Kinematic Model Examples Example zi −1 axes aligned with the motion direction of Ji Note that: di = 0: distances among common normal lines ai : distances among the joint axes Ji αi : angle between zi −1 and zi about xi With the DH convention, the origin of obtains: C12 −S12 0 a1 C1 C12 0 a1 S 1 S 0 T2 = 012 0 1 0 0 0 0 1 C. Melchiorri (DEIS) F2 is coincident with F1 . In this case, one Then Kinematic Model 1 0 2 Tt = 0 0 0 1 0 0 0 0 1 0 a2 0 0 1 43 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator Table of the Denavit-Hartenberg parameters L1 L2 L3 Matrices C1 S1 0 H1= 0 0 i −1 0 0 1 0 d 0 0 0 θ θ1 θ2 θ3 a 0 a2 a3 α 90o 0o 0o Hi S1 −C1 0 0 C. Melchiorri (DEIS) 0 0 ,1 H2= 0 1 C2 S2 0 0 −S2 C2 0 0 0 0 1 0 Kinematic Model a2 C2 a2 S 2 ,2 H3= 0 1 C3 S3 0 0 −S3 C3 0 0 0 0 1 0 a3 C3 a3 S 3 0 1 44 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator Kinematic model: C1 C23 S1 C23 0 T3 = S23 0 −C1 S23 −S1 S23 C23 0 S1 −C1 0 0 C1 (a2 C2 + a3 C23 ) S1 (a2 C2 + a3 C23 ) a2 S2 + a3 S23 1 The orientation of z3 depends only on the first joint J1 ; pz does not depend on θ1 . C. Melchiorri (DEIS) Kinematic Model 45 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator Check if the model is correct z0 With θ1 = θ2 = θ3 = 0o 1 0 0 a2 + a3 0 0 0 −1 0 T3 = 0 1 0 0 0 0 0 1 y3 y0 F0 x0 a2 z3 a3 With θ1 = θ2 = θ3 = 90o 0 0 0 1 −1 0 0 −a 0 3 T3 = 0 −1 0 a2 0 0 0 1 C. Melchiorri (DEIS) a3 x3 F3 y3 F3 a2 z3 z0 y0 F0 Kinematic Model x0 46 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator Another choice for the last frame could be In this case, the last frame does not respect the DH convention: =⇒ x3 does not intersect z2 ! There are two possible manners to obtain the kinematic model. C. Melchiorri (DEIS) Kinematic Model 47 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator There are two possible manners to obtain the kinematic model: 1) Use the previous model and add a constant 0 0 1 1 0 0 T= 0 1 0 0 0 0 and then 0 T3,new −C1 S23 −S 1 C23 = 0 T3 T = C23 0 S1 −C1 0 0 rotation, in this case 0 0 0 1 C1 C23 S1 C23 S23 0 C1 (a2 C2 + a3 C23 ) S1 (a2 C2 + a3 C23 ) a2 S2 + a3 S23 1 The unit vector s depends only on the first joint. The position pz does not depend on θ1 . C. Melchiorri (DEIS) Kinematic Model 48 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator 2) Use the DH convention by adding suitable (fictitious) i −1 Hi matrices. In this case, it is necessary to add a rotation of π/2 about z and a rotation of π/2 about x and therefore the ‘DH’ angles θ = α = π/2. y2 x′3 y3 x′′3 L3 x2 z2 J3 C. Melchiorri (DEIS) x3 y3′ z′′3 z′3 z3 Kinematic Model y3′′ 49 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator The new DH parameters table (the joint angle θ3 and the new angle θ are defined about the same axis and then it is possible to simply add them together): L1 L2 L3 The i −1 d 0 0 0 θ θ1 θ2 θ3 + 90o a 0 a2 a3 α 90o 0o 90o Hi matrices are C1 S1 0 H1= 0 0 0 0 1 0 S1 −C1 0 0 C. Melchiorri (DEIS) 0 0 ,1 H2= 0 1 C2 S2 0 0 −S2 C2 0 0 0 0 1 0 Kinematic Model a2 C2 −S3 a2 S 2 ,2 H3= C3 0 0 1 0 0 0 1 0 C3 S3 0 0 a3 C3 a3 S 3 0 1 50 / 164 Direct Kinematic Model Examples Example: 3 dof anthropomorphic manipulator The kinematic model results: 0 T3,new −C1 S23 −S1 C23 = C23 0 S1 −C1 0 0 C1 C23 S1 C23 S23 0 C1 (a2 C2 + a3 C23 ) S1 (a2 C2 + a3 C23 ) a2 S2 + a3 S23 1 The unit vector s depends only on the first joint. The position pz does not depend on θ1 . C. Melchiorri (DEIS) Kinematic Model 51 / 164 Direct Kinematic Model Examples Example: 3 dof spherical manipulator Denavit-Hartenberg parameters: L1 L2 L3 d 0 d2 d3 θ θ1 θ2 0 a 0 0 0 α −90o 90o 0o The Denavit-Hartenberg matrices are: C1 S1 0 H1 = 0 0 0 0 −1 0 C. Melchiorri (DEIS) −S1 C1 0 0 0 0 , 1 H2 = 0 1 C2 S2 0 0 0 0 1 0 Kinematic Model S2 −C2 0 0 0 0 , 2 H3 = d2 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 d3 1 52 / 164 Direct Kinematic Model Examples Example: 3 dof spherical manipulator The kinematic model results: 0 T3 = n s 0 0 a p 0 1 C1 C2 C2 S1 = −S2 0 −S1 C1 0 0 C1 S2 S1 S2 C2 0 −d2 S1 + d3 C1 S2 d2 C1 + d3 S1 S2 d3 C2 1 The third joint J3 does not affect the orientation, s depends only on J1 . C. Melchiorri (DEIS) Kinematic Model 53 / 164 Direct Kinematic Model Examples Example: 3 dof spherical manipulator z3 If θ1 = θ2 = 0o , d3 1 0 0 1 0 T3 = 0 0 0 0 F3 =d 0 0 1 0 If θ1 = θ2 = 90o , d3 0 −1 0 0 0 T3 = −1 0 0 0 C. Melchiorri (DEIS) 0 d2 d 1 d y0 d2 F0 x0 y3 d =d 0 1 0 0 y3 x3 z0 −d2 d 0 1 z0 F3 z3 −d2 x3 y0 F0 x0 Kinematic Model 54 / 164 Direct Kinematic Model Examples Example: 3 dof spherical wrist Denavit-Hartenberg parameters L4 L5 L6 d 0 0 d6 θ θ4 θ5 θ6 a 0 0 0 α −90o 90o 0o Note the numbers starting from 4... Then C4 S4 3 H4 = 0 0 0 0 −1 0 C. Melchiorri (DEIS) −S4 C4 0 0 0 0 ,4 H5 = 0 1 C5 S5 0 0 0 0 1 0 S5 −C5 0 0 Kinematic Model 0 0 ,5 H6 = 0 1 C6 S6 0 0 −S6 C6 0 0 0 0 1 0 0 0 d6 1 55 / 164 Direct Kinematic Model Examples Example: 3 dof spherical wrist The kinematic model is: C4 C5 C6 − S4 S6 S4 C5 C6 + C4 S6 3 T6 = −S5 C6 0 −S4 C6 − C4 C5 S6 C4 C6 − S4 C5 S6 S5 S6 0 C4 S5 S4 S5 C5 0 d6 C4 S5 d6 S4 S5 d6 C5 1 In this case, the rotation matrix has the same expression as an Euler ZYZ rotation matrix. REuler (φ, θ, ψ) = Rot(z0 , φ)Rot(y1 , θ)Rot(z2 , ψ) Cφ Cθ Cψ − Sφ Sψ −Cφ Cθ Sψ − Sφ Cψ = Sφ Cθ Cψ + Cφ Sψ −Sφ Cθ Sψ + Cφ Cψ −Sθ Cψ Sθ Sψ Cφ Sθ Sφ Sθ Cθ It means that the manipulator’s joints θ4 , θ5 and θ6 are equivalent to the Euler ZYZ angles. C. Melchiorri (DEIS) Kinematic Model 56 / 164 Direct Kinematic Model Examples Example: 3 dof spherical wrist If θ1 = θ2 = θ3 = 0o 1 0 3 T6 = 0 0 If θ1 = θ2 = θ3 = 90o −1 0 3 T6 = 0 0 C. Melchiorri (DEIS) 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 0 d6 1 0 d6 0 1 Kinematic Model 57 / 164 Direct Kinematic Model Examples Example: Stanford manipulator By composing the 3 dof spherical manipulator with the spherical wrist, the so-called “Stanford manipulator” is obtained, a 6 dof robot. Since the frames have been defined in a consistent manner, the kinematic model is simply obtained by multiplying the matrices 0 T3 of the arm and 3 T6 of the wrist. Then 0 C. Melchiorri (DEIS) T6 = 0 T3 3 T6 = n 0 Kinematic Model s a 0 0 p 1 58 / 164 Direct Kinematic Model Examples Example: Stanford manipulator where −S1 (S4 C5 C6 + C4 S6 ) + C1 (C2 (C4 C5 C6 − S4 S6 ) − S2 S5 C6 ) n = C1 (S4 C5 C6 + C4 S6 ) + S1 (−S2 S5 C6 + C2 (C4 C5 C6 − S4 S6 )) −C2 S5 C6 − S2 (C4 C5 C6 − S4 S6 ) −S1 (C4 C6 − S4 C5 S6 ) + C1 (−C2 (S4 C6 + C4 C5 S6 ) + S2 S5 S6 ) o = C1 (C4 C6 − S4 C5 S6 ) + S1 (S2 S5 S6 − C2 (S4 C6 + C4 C5 S6 )) C2 S5 S6 + S2 (S4 C6 + C4 C5 S6 ) −S1 S4 S5 + C1 (S2 C5 + C2 C4 S5 ) a = C1 S4 S5 + S1 (S2 C5 + C2 C4 S5 ) C2 C5 − S2 C4 S5 −d2 S1 + d3 C1 S2 + d6 (C1 S2 C5 + C1 C2 C4 S5 − S1 S4 S5 ) p = d2 C1 + d3 S1 S2 + d6 (S1 S2 C5 + S1 C2 C4 S5 + C1 S4 S5 ) d3 C2 + d6 (C2 C5 − S2 C4 S5 ) C. Melchiorri (DEIS) Kinematic Model 59 / 164 Direct Kinematic Model Examples Example: PUMA 260 Joint variables θi are defined about the zi −1 axes; a2 is the distance between z1 and z2 (in this case parallel), d3 is the offset between the origins of F2 and F3 , and d4 is the offset between the origins of F3 and F4 . Frames F4 and F5 coincides. The αi angles are either 0o or ±90o . L1 L2 L3 L4 L5 L6 C. Melchiorri (DEIS) Kinematic Model d 0 0 −d3 d4 0 d6 θ θ1 θ2 θ3 θ4 θ5 θ6 a 0 a2 0 0 0 0 α 90o 0o 90o −90o 90o 0o 60 / 164 Direct Kinematic Model Examples Example: PUMA 260 Canonical transformation matrices: 0 0 1 0 0 0 −1 0 C1 S1 0 H1= 0 0 C4 S4 3 H4= 0 0 S1 −C1 0 0 −S4 C4 0 0 C. Melchiorri (DEIS) 0 0 ,1 H2= 0 1 C2 S2 0 0 0 0 ,4 H5= d4 1 −S2 C2 0 0 C5 S5 0 0 0 0 1 0 0 0 1 0 a2 C2 a2 S 2 ,2 H3= 0 1 C3 S3 0 0 0 0 1 0 0 0 ,5 H6= 0 1 C6 S6 0 0 −S6 C6 0 0 S5 −C5 0 0 Kinematic Model S3 −C3 0 0 0 0 1 0 0 0 −d3 1 0 0 d6 1 61 / 164 Direct Kinematic Model Examples Example: PUMA 260 C1 C2 C3 − C1 S2 S3 C2 C3 S1 − S1 S2 S3 0 T3 = C3 S2 + C2 S3 0 C4 C5 C6 − S4 S6 C5 C6 S4 + C4 S6 3 T6 = −(C6 S5 ) 0 0 C. Melchiorri (DEIS) T6 = 0 T6 = S1 −C1 0 0 C1 C3 S2 + C1 C2 S3 C3 S1 S2 + C2 S1 S3 −(C2 C3 ) + S2 S3 0 −(C6 S4 ) − C4 C5 S6 C4 C6 − C5 S4 S6 S5 S6 0 0 T3 3 T6 = Kinematic Model n s 0 0 C4 S5 S4 S5 C5 0 a p 0 1 a2 C1 C2 − d3 S1 C1 d3 + a2 C2 S1 a2 S2 1 C4 d6 S5 d6 S4 S5 d4 + C5 d6 1 62 / 164 Direct Kinematic Model Examples Example: PUMA 260 n= " S1 (C5 C6 S4 + C4 S6 ) + C1 (C2 (−(C6 S3 S5 ) + C3 (C4 C5 C6 − S4 S6 )) − S2 (C3 C6 S5 + S3 (C4 C5 C6 − S4 S6 ))) −(C1 (C5 C6 S4 + C4 S6 )) + S1 (C2 (−(C6 S3 S5 ) + C3 (C4 C5 C6 − S4 S6 )) − S2 (C3 C6 S5 + S3 (C4 C5 C6 − S4 S6 ))) S2 (−(C6 S3 S5 ) + C3 (C4 C5 C6 − S4 S6 )) + C2 (C3 C6 S5 + S3 (C4 C5 C6 − S4 S6 )) # " # S1 (C4 C6 − C5 S4 S6 )+C1 (C2 (S3 S5 S6 + C3 (−(C6 S4 ) − C4 C5 S6 )) − S2 (−(C3 S5 S6 ) + S3 (−(C6 S4 ) − C4 C5 S6 ))) s = −(C1 (C4 C6 − C5 S4 S6 ))+S1 (C2 (S3 S5 S6 + C3 (−(C6 S4 ) − C4 C5 S6 ))−S2 (−(C3 S5 S6 )+S3 (−(C6 S4 ) − C4 C5 S6 ))) S2 (S3 S5 S6 + C3 (−(C6 S4 ) − C4 C5 S6 )) + C2 (−(C3 S5 S6 )+S3 (−(C6 S4 ) − C4 C5 S6 )) a= p= " " S1 S4 S5 + C1 (C2 (C5 S3 + C3 C4 S5 ) − S2 (−(C3 C5 ) + C4 S3 S5 )) −(C1 S4 S5 ) + S1 (C2 (C5 S3 + C3 C4 S5 ) − S2 (−(C3 C5 ) + C4 S3 S5 )) S2 (C5 S3 + C3 C4 S5 ) + C2 (−(C3 C5 ) + C4 S3 S5 ) # S1 (−d3 + d6 S4 S5 ) + C1 (a2 C2 + C2 ((d4 + C5 d6 )S3 + C3 C4 d6 S5 ) − S2 (−(C3 (d4 + C5 d6 )) + C4 d6 S3 S5 )) −(C1 (−d3 + d6 S4 S5 )) + S1 (a2 C2 + C2 ((d4 + C5 d6 )S3 + C3 C4 d6 S5 ) − S2 (−(C3 (d4 + C5 d6 )) + C4 d6 S3 S5 )) a2 S2 + S2 ((d4 + C5 d6 )S3 + C3 C4 d6 S5 ) + C2 (−(C3 (d4 + C5 d6 )) + C4 d6 S3 S5 ) C. Melchiorri (DEIS) Kinematic Model # 63 / 164 Direct Kinematic Model Examples Example: planar 4 dof manipulator (redundant) DH parameters L1 L2 L3 L4 d 0 0 0 0 θ θ1 θ2 θ3 θ4 a a1 a2 a3 a4 α 0o 0o 0o 0o All the i −1 Hi matrices have the same structure Ci −Si 0 ai Ci Si Ci 0 ai Si i −1 Hi = 0 0 1 0 0 0 0 1 C. Melchiorri (DEIS) Kinematic Model 64 / 164 Direct Kinematic Model Examples Example: planar 4 dof manipulator (redundant) Then 0 T4 = 0 H1 1 H2 2 H3 3 H4 = C1234 S1234 = 0 0 −S1234 C1234 0 0 0 0 1 0 n s 0 0 a 0 p 1 a1 C1 + a2 C12 + a3 C123 + a4 C1234 a1 S1 + a2 S12 + a3 S123 + a4 S1234 0 1 The vectors n, s, a define the end-effector orientation (rotation about z), while p defines its position (on the x − y plane, pz = 0). =⇒ The procedure can be applied also to redundant manipulators. C. Melchiorri (DEIS) Kinematic Model 65 / 164 Inverse Kinematic Model Kinematic Model of Robot Manipulators Inverse Kinematic Model Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 66 / 164 Inverse Kinematic Model Introduction Inverse Kinematic Model Direct Kinematic Model: The direct kinematic model consists in a function f(q) mapping the joint position variables q ∈ IRn to the position/orientation of the end effector. The definition of f(q) is conceptually simple, and a general approach for its computation has been defined. C. Melchiorri (DEIS) Kinematic Model 67 / 164 Inverse Kinematic Model Introduction Inverse Kinematic Model Inverse Kinematic Model: The inverse kinematics consists in finding a function g(x) mapping the position/orientation of the end-effector to the corresponding joint variables q: the problem is not simple! A general approach for the solution of this problem does not exist On the other hand, for the most common kinematic structures, a scheme for obtaining the solution has been found. Unfortunately The solution is not unique. In general we have: No solution (e.g. starting with a position x not in the workspace); A finite set of solutions (one or more); Infinite solutions. We seek for closed form solutions, and not based on numerical techniques: The analytic solution is more efficient from the computational point of view; If the solutions are known analytically, it is possible to select one of them on the basis of proper criteria. C. Melchiorri (DEIS) Kinematic Model 68 / 164 Inverse Kinematic Model Introduction Inverse Kinematic Model In order to obtain a closed form solution to the inverse kinematic problem, two approaches are possible: An algebraic approach, i.e. elaborations of the kinematic equations until a suitable set of (simple) equations is obtained for the solution A geometric approach based, when possible, on geometrical considerations, dependent on the kinematic structure of the manipulator and that may help in the solution. C. Melchiorri (DEIS) Kinematic Model 69 / 164 Inverse Kinematic Model Algebraic Approach Algebraic Approach For a 6 dof manipulator, the kinematic model is described by the equation 0 T6 = 0 H1 (q1 ) 1 H2 (q2 ) . . . 5 H6 (q6 ) equivalent to 12 equations in the 6 unknowns qi , i = 1, . . . , 6. Example: spherical manipulator (only 3 dof) 0.5868 0.5265 T= −0.5736 0 −0.6428 0.7660 0.0000 0 0.4394 0.3687 0.8192 0 C1 C2 −0.4231 0.9504 C2 S1 = −S2 0.4096 0 1 −S1 C1 0 0 C1 S2 S1 S2 C2 0 −d2 S1 + d3 C1 S2 d2 C1 + d3 S1 S2 d3 C2 1 Since both the numerical values of 0 T6 and the structure of the i −1 Hi matrices are known, by suitable pre- / post-multiplications it is possible to obtain [ 0 H1 (q1 ) . . .i −1 Hi (qi )]−1 0 T6 [ j Hj+1 (qj+1 ) . . .5 H6 (q6 )]−1 = i Hi +1 (qi +1 ) . . .j−1 Hj (qj ), i < j obtaining 12 new equations for each couple (i, j), i < j. By selecting the most simple equations among all those obtained, it might be possible to obtain a solution to the problem. C. Melchiorri (DEIS) Kinematic Model 70 / 164 Inverse Kinematic Model Geometric Approach Geometric Approach General considerations that may help in finding solutions with algebraic techniques do not exist, being these strictly related to the mathematical expression of the direct kinematic model. On the other hand, it is often possible to exploit considerations related to the geometrical structure of the manipulator. PIEPER APPROACH Many industrial manipulators have a kinematically decoupled structure, for which it is possible to decompose the problem in two (simpler) sub-problems: 1 Inverse kinematics for the position (x, y , z) → q1 , q2 , q3 2 Inverse kinematics for the orientation R → q4 , q5 , q6 . C. Melchiorri (DEIS) Kinematic Model 71 / 164 Inverse Kinematic Model Geometric Approach Geometric Approach PIEPER APPROACH: Given a 6 dof manipulator, sufficient condition to find a closed form solution for the IK problem is that the kinematic structure presents: three consecutive rotational joints with axes intersecting in a single point or three consecutive rotational joints with parallel axes. C. Melchiorri (DEIS) Kinematic Model 72 / 164 Inverse Kinematic Model Geometric Approach Geometric Approach In many 6 dof industrial manipulators, the first 3 dof are usually devoted to position the wrist, that has 3 additional dof give the correct orientation to the end-effector. In these cases, it is quite simple to decompose the IK problem in the two sub-problems (position and orientation). C. Melchiorri (DEIS) Kinematic Model 73 / 164 Inverse Kinematic Model Geometric Approach Geometric Approach In case of a manipulator with a spherical wrist, a natural choice is to decompose the problem in 1 IK for the point pp (center of the spherical wrist) 2 solution of the orientation IK problem Therefore: 1 The point pp is computed since 0 T6 is known (submatrices R and p): p p = p − d6 a pp depends only on the joint variables q1 , q2 , q3 ; 2 The IK problem is solved for q1 , q2 , q3 ; 3 The rotation matrix 0 R3 related to the first three joints is computed; 4 The matrix 5 The IK problem for the rotational part is solved (Euler). C. Melchiorri (DEIS) 3 R6 = 0 RT 3 R is computed; Kinematic Model 74 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator Direct kinematic model: n s a p 0 T3 = 0 0 0 1 C1 C2 −S1 C1 S2 C2 S1 C1 S1 S2 = −S2 0 C2 0 0 0 −d2 S1 + d3 C1 S2 d2 C1 + d3 S1 S2 d3 C2 1 If the whole matrix 0 T3 is known, it is possible to compute: θ1 = atan2 (−sx , sy ) Unfortunately, according to =⇒ the Pieper approach only p θ2 = atan2 (−nz , az ) d3 = pz / cos θ2 is known! C. Melchiorri (DEIS) Kinematic Model 75 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator We known only the position vector p. From (0 H1 )−1 0 T3 C1 0 = −S1 0 = C. Melchiorri (DEIS) 1 S1 0 C1 0 H2 2 H3 0 −1 0 0 0 T 3 = 0 H1 1 H2 2 H3 nx 0 ny 0 0 nz 1 0 sx sy sz 0 Kinematic Model ax ay az 0 we have px C2 S2 py = pz 0 1 0 0 0 1 0 S2 −C2 0 0 d3 S2 −d3 C2 d2 1 76 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator By equating the position vectors, px C1 + py S1 d3 S2 1 = −d3 C2 −pz pp = −px S1 + py C1 d2 The vector 1 pp depends only on θ2 and d3 ! Let’s define a = tan θ1 /2, then C1 = 1 − a2 1 + a2 S1 = 2a 1 + a2 By substitution in the last element of 1 pp 2 (d2 + py )a + 2px a + d2 − py = 0 =⇒ a= −px ± p px2 + py2 − d22 d2 + py Two possible solutions! ((px2 + py2 − d22 ) > 0??) Then θ1 = 2 atan2 (−px ± C. Melchiorri (DEIS) q px2 + py2 − d22 , d2 + py ) Kinematic Model 77 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator Vector 1 pp is defined as d3 S2 px C1 + py S1 1 = −d3 C2 −pz pp = d2 −px S1 + py C1 From the first two elements d3 S2 px C1 + py S1 = −pz −d3 C2 from which θ2 = atan2 (px C1 + py S1 , pz ) Finally, if the first two elements are squared and added together q d3 = (px C1 + py S1 )2 + pz2 C. Melchiorri (DEIS) Kinematic Model 78 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator Note that two possible solutions exist considering the position of the end-effector (wrist) only. If also the orientation is considered, the solution (if exists) is unique. We have seen that the relation (px2 + py2 − d22 ) > 0 must hold: C. Melchiorri (DEIS) Kinematic Model 79 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator Numerical example: Given a spherical manipulator with d2 = 0.8 m in the pose θ1 = 20o , we have 0.8138 0.2962 0 T3 = −0.5 0 θ2 = 30o , −0.342 0.9397 0 0 d3 = 0.5 m 0.4698 0.171 0.866 0 −0.0387 0.8373 0.433 1 • The solution based on the whole matrix 0 T3 is: θ1 = 20o , θ2 = 30o , d3 = 0.5. • The solution based on the vector p gives: a) θ1 = 20o , θ2 = 30o , d3 = 0.5 b) θ1 = −14.7o , θ2 = −30o , d3 = 0.5 C. Melchiorri (DEIS) (with the “+” sign). (with the “-” sign). Kinematic Model 80 / 164 Inverse Kinematic Model Examples Solution of the spherical manipulator • The solution based on the vector p gives: a) θ1 = 20o , θ2 = 30o , d3 = 0.5 (with the “+” sign). b) θ1 = −14.7o , θ2 = −30o , d3 = 0.5 C. Melchiorri (DEIS) (with the “-” sign). Kinematic Model 81 / 164 Inverse Kinematic Model Examples Solution of the 3 dof anthropomorphic manipulator From the kinematic structure, one obtains θ1 = atan2 (py , px ) Concerning θ2 and θ3 , note that the arm moves in a plane defined by θ1 only. One obtains C3 = px2 + py2 + pz2 − a22 − a32 2a2 a3 S3 = ± q 1 − C32 θ3 = atan2 (S3 , C3 ) Moreover, by geometrical arguments, it is possible to state that: θ2 = atan2 (pz , C. Melchiorri (DEIS) q px2 + py2 ) − atan2 (a3 S3 , a2 + a3 C3 ) Kinematic Model 82 / 164 Inverse Kinematic Model Examples Solution of the 3 dof anthropomorphic manipulator Note that also the solution is valid θ2′ = π − θ2 θ1 = π + atan2 (py , px ), Then, FOUR possible solutions exist: shoulder right - elbow up; shoulder left - elbow up; shoulder right - elbow down; shoulder left - elbow down; Same position, but different orientation! Note that the conditions px 6= 0, py 6= 0 C. Melchiorri (DEIS) must hold (singular configuration). Kinematic Model 83 / 164 Inverse Kinematic Model Examples Solution of the spherical wrist Let us consider the matrix nx s x ax 3 R6 = ny sy ay nz s z az From the direct kinematic equations one obtains 3 C4 C5 C6 − S4 S6 R6 = S4 C5 C6 + C4 S6 −S5 C6 C. Melchiorri (DEIS) −S4 C6 − C4 C5 S6 C4 C6 − S4 C5 S6 S5 S6 Kinematic Model C4 S5 S4 S5 C5 84 / 164 Inverse Kinematic Model Examples Solution of the spherical wrist 3 R6 = " C4 C5 C6 − S4 S6 S4 C5 C6 + C4 S6 −S5 C6 −S4 C6 − C4 C5 S6 C4 C6 − S4 C5 S6 S5 S6 C4 S5 S4 S5 C5 # The solution is then computed as (ZYZ Euler angles): θ5 ∈ [0, π]: θ4 = θ5 = θ6 = atan2 (ay , ax ) q atan2 ( ax2 + ay2 , az ) atan2 (sz , −nz ) θ5 ∈ [−π, 0]: C. Melchiorri (DEIS) θ4 = θ5 = θ6 = atan2 (−ay , −ax ) q atan2 (− ax2 + ay2 , az ) atan2 (−sz , nz ) Kinematic Model 85 / 164 Inverse Kinematic Model Examples Solution of the spherical wrist Numerical example: Let us consider a spherical wrist in the pose θ4 = 10o Then 3 R6 = " θ5 = 20o , 0.7146 0.6337 −0.2962 θ6 = 30o −0.6131 0.7713 0.1710 0.3368 0.0594 0.9397 # Therefore, if • θ5 ∈ [0, π] • θ5 ∈ [−π, 0] θ4 = 10o θ4 = −170o θ5 = 20o , θ6 = 30o θ5 = −20o , θ6 = −30o Note that the PUMA has an anthropomorphic structure (4 solutions) and a spherical wrist (2 solutions): =⇒ 8 different configurations are possible! C. Melchiorri (DEIS) Kinematic Model 86 / 164 Differential Kinematics Kinematic Model of Robot Manipulators Differential Kinematics Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 87 / 164 Differential Kinematics Introduction Differential Kinematics: the Jacobian matrix In robotics it is of interest to define, besides the mapping between the joint and workspace position/orientation (i.e. the kinematic equations), also The relationship between the joints and end-effector velocities: v ⇐⇒ q̇ ω The relationship between the force applied on the environment by the manipulator and the corresponding joint torques f ⇐⇒ τ n These two relationships are based on a linear operator, a matrix J, called the Jacobian of the manipulator. C. Melchiorri (DEIS) Kinematic Model 88 / 164 Differential Kinematics Introduction The Jacobian matrix In robotics, the Jacobian is used for several purposes: To define the relationship between joint and workspace velocities To define the relationship between forces/torques between the spaces To study the singular configurations To define numerical procedures for the solution of the IK problem To study the manipulability properties. C. Melchiorri (DEIS) Kinematic Model 89 / 164 Differential Kinematics The Jacobian Matrix Velocity domain The translational and rotational velocities are considered separately. Let us consider two frames F0 (base frame) and F1 (integral with the rigid body). The translational velocity of point p of the rigid body, with respect to F0 , is defined as the derivative (with respect to time) of p, denoted as ṗ: ṗ = C. Melchiorri (DEIS) d p dt Kinematic Model 90 / 164 Differential Kinematics The Jacobian Matrix Velocity domain With respect to the rotational velocity, two different definitions are possible: 1 2 A triple γ ∈ IR3 giving the orientation of F1 with respect to F0 (Euler, RPY,... angles) is adopted, and its derivative is used to define the rotational velocity γ̇ dγ γ̇ = dt An angular velocity vector ω is defined, giving the rotational velocity of a third frame F2 with origin coincident with F0 and axes parallel to F1 . The velocity vector ω is placed in the origin, and its direction coincides with the instantaneous rotation axis of the rigid body. C. Melchiorri (DEIS) Kinematic Model 91 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian The two descriptions lead to different results concerning the expression of the Jacobian matrix, in particular in the part relative to the rotational velocity. One obtains respectively the: Analytic Jacobian JA Geometric Jacobian JG Two problems: 1) Integration of the rotational velocity Z γ̇dt =⇒ γ: orientation of the rigid body Z ωdt =⇒ ?? C. Melchiorri (DEIS) Kinematic Model 92 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian Example: Let’s consider a rigid body and the following rotational velocities Case a) ω = [π/2, 0, 0]T 0≤t≤1 ω = [0, π/2, 0]T 1<t≤2 ω = [0, π/2, 0]T 0≤t≤1 ω = [π/2, 0, 0]T 1<t≤2 Case b) By integrating the velocities in the two cases, one obtains: Z 2 ωdt = [π/2, π/2, 0]T 0 C. Melchiorri (DEIS) Kinematic Model 93 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian Case a) ω = [π/2, 0, 0]T 0≤t≤1 ω = [0, π/2, 0]T 1<t≤2 Case b) ω = [0, π/2, 0]T 0≤t≤1 ω = [π/2, 0, 0]T 1<t≤2 Z 2 ωdt = [π/2, π/2, 0]T 0 On the other hand, the rotation matrices in the two cases are: 0 Ra = 0 −1 1 0 0 0 −1 0 0 Rb = 1 0 0 0 1 1 0 0 The integration of ω does not have a clear physical interpretation. C. Melchiorri (DEIS) Kinematic Model 94 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian 2) On the other hand: ω represents the velocity components about the three axes of F0 , the elements of γ̇ are defined with respect to frame that: a) is not Cartesian (its axes are not orthogonal each other); b) varies in time according to γ. C. Melchiorri (DEIS) Kinematic Model 95 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian The two expressions of the Jacobian matrix physically define the same phenomenon (velocity of the manipulator), and therefore a relationship between them must exist. For example, if the Euler angles φ, θ, ψ are used for the triple γ, it is possible to show that 0 − sin φ cos φ sin θ ω = 0 cos φ sin φ sin θ γ̇ = T(γ) γ̇ 1 0 cos θ Note that matrix T(γ) is singular when sin θ = 0. In this case, some rotational velocities may be expressed by ω and not by γ̇, e.g. ω = [cos φ, sin φ, 0]T . These cases are called representation singularities of γ. C. Melchiorri (DEIS) Kinematic Model 96 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian Definition of matrix T(γ): φ̇ : θ̇ : ψ̇ : T [ωx , ωy , ωz ] = φ̇ [ωx , ωy , ωz ]T = θ̇ [ωx , ωy , ωz ]T = ψ̇ C. Melchiorri (DEIS) " " " 0 0 1 −Sφ Cφ 0 # ωz = φ̇ # −Cφ Sθ Sφ Sθ Cθ ωx = −Sφ θ̇ ωy = Cφ θ̇ ωz = Cθ ψ̇ ω = Sθ Cφ ψ̇ x ωy = Sθ Sφ ψ̇ # Kinematic Model 97 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian If sin θ = 0, then the components perpendicular to z of the velocity expressed by γ̇ are linearly dependent (ωx2 + ωy2 = θ̇2 ), while physically this constraint may not exist! From: one obtains: 0 −Sφ 0 Cφ 1 0 0 ω= 0 1 − sin φ cos φ sin θ cos φ sin φ sin θ γ̇ 0 cos θ φ̇ −Sφ θ̇ 0 ωx 0 θ̇ =⇒ Cφ θ̇ = ωy 1 ωz ψ̇ φ̇ + ψ̇ C. Melchiorri (DEIS) Kinematic Model =⇒ ωx2 + ωy2 = θ̇2 ωz = φ̇ + ψ̇ 98 / 164 Differential Kinematics The Jacobian Matrix Analytical and Geometrical expressions of the Jacobian In general, given a triple of angles γ, a transformation matrix T(γ) exists such that ω = T(γ) γ̇ Once matrix T(γ) is known, it is possible to relate the analytical and geometrical expressions of the Jacobian matrix: v I 0 ṗ = ω 0 T(γ) γ̇ Then JG = C. Melchiorri (DEIS) I 0 0 T(γ) JA = TA (γ)JA Kinematic Model 99 / 164 Differential Kinematics Analytical Jacobian Analitycal Jacobian The analytical expression of the Jacobian is obtained by differentiating a vector x = f(q) ∈ IR6 , that defines the position and orientation (according to some convention) of the manipulator in F0 . By differentiating f(q), one obtains dx = = ∂f(q) dq ∂q J(q)dq where the m × n matrix ∂f1 ∂f(q) ∂q1 ... = J(q) = ∂q ∂fm ∂q1 ∂f1 ∂q2 ∂fm ∂q2 ... ... ∂f1 ∂qn ∂fm ∂qn J(q) ∈ IRm×n is called Jacobian matrix or JACOBIAN of the manipulator. C. Melchiorri (DEIS) Kinematic Model 100 / 164 Differential Kinematics Analytical Jacobian Analitycal Jacobian If the infinitesimal period of time dt is considered, on obtains d x d q = J(q) dt dt that is ẋ = v γ̇ = J(q) q̇ relating the velocity vector ẋ expressed in F0 and the joint velocity vector q̇. The elements Ji ,j of the Jacobian are non linear functions of q(t): therefore these elements change in time according to the value of the joint variables. The Jacobian dimensions depend on the number n of joints and on the dimension m of the considered operative space (J(q) ∈ IRm×n ). C. Melchiorri (DEIS) Kinematic Model 101 / 164 Differential Kinematics Analytical Jacobian Example: 2 dof manipulator L1 L2 d 0 0 θ θ1 θ2 a a1 a2 α 0o 0o The end-effector position is px py = = a1 C1 + a2 C12 a1 S1 + a2 S12 pz = 0 If γ is composed by the Euler angles φ, θ, ψ defined about axes z0 , y1 , z2 , and considering that the z axes of the base frame and of the end effector are parallel, the total rotation is equivalent to a single rotation about z0 and therefore: φ θ1 + θ2 θ = 0 ψ 0 C. Melchiorri (DEIS) Kinematic Model 102 / 164 Differential Kinematics Analytical Jacobian Example: 2 dof manipulator Euler angles: φ θ1 + θ2 θ = 0 ψ 0 By differentiation of the expressions of p and γ one obtains −a1 S1 − a2 S12 −a2 S12 a1 C1 + a2 C12 a2 C12 ṗ 0 0 q̇ = γ̇ 1 1 0 0 0 0 = J(q) q̇ C. Melchiorri (DEIS) Kinematic Model 103 / 164 Differential Kinematics Geometric Jacobian Geometric Expression of the Jacobian The geometric expression of the Jacobian is obtained considering the rotational velocity vector ω. Each column of the Jacobian matrix defines the effect of the i-th joint on the end-effector velocity. It is divided in two terms. The first term considers the effect of q̇i on the linear velocity v, while the second one on therotational velocity ω, i.e. v Jv1 Jv2 . . . Jvn = J q̇ =⇒ J= ω Jω1 Jω2 . . . Jωn Therefore v = Jv1 q̇1 + Jv2 q̇2 + . . . + Jvn q̇n ω = Jω1 q̇1 + Jω2 q̇2 + . . . + Jωn q̇n The analytic and geometric Jacobian differ for the rotational part. In order to obtain the geometric Jacobian, a general method based on the geometrical structure of the manipulator is adopted. C. Melchiorri (DEIS) Kinematic Model 104 / 164 Differential Kinematics Geometric Jacobian Derivative of a Rotation Matrix Let’s consider a rotation matrix Let’s derive the equation: R = R(t) and R(t)RT (t) = I =⇒ R(t)RT (t) = I . Ṙ(t)RT (t) + R(t)ṘT (t) = 0 A 3 × 3 (skew-symmetric) matrix S(t) is obtained S(t) = Ṙ(t)RT (t) As a matter of fact S(t) + ST (t) = 0 =⇒ 0 S = ωz −ωy −ωz 0 ωx ωy −ωx 0 Then Ṙ(t) = S(t)R(t) This means that the derivative of a rotation matrix is expressed as a function of the matrix itself. C. Melchiorri (DEIS) Kinematic Model 105 / 164 Differential Kinematics Geometric Jacobian Derivative of a Rotation Matrix Physical interpretation: Matrix S(t) is expressed as a function of a vector ω(t) = [ωx , ωy , ωz ]T representing the angular velocity of R(t). Consider a constant vector p′ and the vector p(t) = R(t)p′ . The time derivative of p(t) is ṗ(t) = Ṙ(t)p′ which can be written as ṗ(t) = S(t)R(t)p′ = ω × (R(t) p′ ) This last results, i.e. ṗ(t) = ω × (R(t) p′ ), is well known from the classic mechanics of rigid bodies. C. Melchiorri (DEIS) Kinematic Model 106 / 164 Differential Kinematics Geometric Jacobian Derivative of a Rotation Matrix Moreover R S(ω) RT = S(R ω) i.e. the matrix form of S(ω) in a frame rotated by R is the same as the skew-symmetric matrix S(R ω) of the vector ω rotated by R. Consider two frames F and F ’, which differ by the rotation R (ω ′ = R ω). Then S(ω ′ ) operates on vectors in F ’ and S(ω) on vectors in F . Consider a vector va′ in F ’ and assume that some operations must be performed on that vector in F (then using S). It is necessary to: 1 2 3 Transform the vectors from F ’ to F (by RT ) Use S(ω) Transform back the result to F ’ (by R) That is: equivalent to the transformation using S(ω ′ ): C. Melchiorri (DEIS) Kinematic Model vb′ = R S(ω) RT va′ vb′ = S(ω ′ ) va′ 107 / 164 Differential Kinematics Geometric Jacobian Example Consider the elementary rotation about z cos θ Rot(z, θ) = sin θ 0 − sin θ cos θ 0 If θ is a function of time −θ̇ sin θ S(t) = θ̇ cos θ 0 Then −θ̇ cos θ −θ̇ sin θ 0 0 ω= 0 θ̇ C. Melchiorri (DEIS) 0 cos θ 0 − sin θ 0 0 sin θ cos θ 0 0 0 1 0 0 0 = θ̇ 1 0 −θ̇ 0 0 0 0 = S(ω(t)) 0 i.e. a rotational velocity about z. Kinematic Model 108 / 164 Differential Kinematics Geometric Jacobian Geometric Jacobian The end-effector velocity is a linear composition of the joint velocities v ω = = Jv1 q̇1 + Jv2 q̇2 + . . . + Jvn q̇n Jω1 q̇1 + Jω2 q̇2 + . . . + Jωn q̇n Each column of the Jacobian matrix defines the effect of the i-th joint on the end-effector velocity. C. Melchiorri (DEIS) Kinematic Model 109 / 164 Differential Kinematics Geometric Jacobian Geometric Jacobian It is possible to show (see Appendix) that the i-th column of the Jacobian can be computed as 0 zi −1 × (0 pn − 0 pi −1 ) Jvi = revolute joint 0 zi −1 Jωi 0 zi −1 Jvi = prismatic joint 0 Jωi where 0 zi −1 and 0 ri −1,n = 0 pn − 0 pi −1 depend on the joint variables q1 , q2 , ..., qn . In particular: 0 pn is the end-effector position, defined in the first three elements of the last column of 0 Tn = 0 H1 (q1 ) . . . n−1 Hn (qn ); 0 pi −1 is the position of F i −1 , defined in the first three elements of the last column of 0 Ti −1 = 0 H1 (q1 ) . . . i −2 Hi −1 (qi −1 ); 0 zi −1 is the third column of 0 Ri −1 : 0 C. Melchiorri (DEIS) Ri −1 = 0 R1 (q1 ) 1 R2 (q2 ) . . . Kinematic Model i −2 Ri −1 (qi −1 ) 110 / 164 Differential Kinematics Examples Example: 2 dof manipulator The Jacobian is computed as z0 × (p2 − p0 ) z1 × (p2 − p1 ) J= z0 z1 The origins of the frames are 0 a1 C1 p0 = 0 p1 = a1 S1 0 0 a1 C1 + a2 C12 p2 = a1 S1 + a2 S12 0 and the rotational axes are C. Melchiorri (DEIS) 0 z0 = z1 = 0 1 Kinematic Model 111 / 164 Differential Kinematics Examples Example: 2 dof manipulator Then z0 × (p2 − p0 ) = = z1 × (p2 − p1 ) = 0 0 a1 S1 + a2 S12 0 − 0 0 −a1 C1 − a2 C12 0 −a1 S1 − a2 S12 a1 C1 + a2 C12 0 1 −a1 S1 − a2 S12 a1 C1 + a2 C12 0 0 0 a2 S12 −a2 S12 0 0 0 −a2 C12 0 = a2 C12 − −a2 S12 a2 C12 0 1 0 In conclusion: C. Melchiorri (DEIS) −a1 S1 − a2 S12 a1 C1 + a2 C12 0 J(q) = 0 0 1 Kinematic Model −a2 S12 a2 C12 0 0 0 1 112 / 164 Differential Kinematics Examples Example: 2 dof manipulator Jacobian: J(q) = −a1 S1 − a2 S12 a1 C1 + a2 C12 0 0 0 1 −a2 S12 a2 C12 0 0 0 1 If the orientation is not of interest, only the first two rows may be considered −a1 S1 − a2 S12 −a2 S12 J(q) = a1 C1 + a2 C12 a2 C12 C. Melchiorri (DEIS) Kinematic Model 113 / 164 Differential Kinematics Examples Example: 3dof anthropomorphic manipulator The canonical transformation matrices are C1 S1 0 H1 = 0 0 and the kinematic model C1 C23 S1 C23 0 T3 = S23 0 C. Melchiorri (DEIS) 0 0 1 0 S1 −C1 0 0 C3 S3 2 H3 = 0 0 −C1 S23 −S1 S23 C23 0 S1 −C1 0 0 Kinematic Model 0 0 1 H2 = 0 1 −S3 C3 0 0 0 0 1 0 C2 S2 0 0 −S2 C2 0 0 a3 C3 a3 S 3 0 1 0 0 1 0 a2 C2 a2 S 2 0 1 C1 (a2 C2 + a3 C23 ) S1 (a2 C2 + a3 C23 ) a2 S2 + a3 S23 1 114 / 164 Differential Kinematics Examples Example: 3dof anthropomorphic manipulator The Jacobian results z0 × (p3 − p0 ) z1 × (p3 − p1 ) z2 × (p3 − p2 ) J= z0 z1 z2 where 0 p0 = p1 = 0 0 a2 C1 C2 p2 = a2 S1 S2 a2 S2 The rotational axes are 0 z0 = 0 1 C. Melchiorri (DEIS) C1 (a2 C2 + a3 C23 ) p3 = S1 (a2 C2 + a3 C23 ) a2 S2 + a3 S23 S1 z1 = z2 = −C1 0 Kinematic Model 115 / 164 Differential Kinematics Examples Example: 3dof anthropomorphic manipulator Therefore J= −S1 (a2 C2 + a3 C23 ) −C1 (a2 S2 + a3 S23 ) −a3 C1 S23 C1 (a2 C2 + a3 C23 ) −S1 (a2 S2 + a3 S23 ) −a3 S1 S23 0 a2 C2 + a3 C23 a3 C23 0 S1 S1 0 −C1 −C1 1 0 0 - Only three rows are linearly independent (3 dof). - Note that it is not possible to achieve all the rotational velocities ω in IR3 . - Moreover S1 ωy = −C1 ωx (ωx = S1 θ̇2 + S1 θ̇3 , ωy = −C1 θ̇2 − C1 θ̇3 , ). By considering the linear velocity only, one obtains: −S1 (a2 C2 + a3 C23 ) −C1 (a2 S2 + a3 S23 ) −a3 C1 S23 J = C1 (a2 C2 + a3 C23 ) −S1 (a2 S2 + a3 S23 ) −a3 S1 S23 0 a2 C2 + a3 C23 a3 C23 C. Melchiorri (DEIS) Kinematic Model 116 / 164 Differential Kinematics Examples Example: 3dof anthropomorphic manipulator Note that: θ̇1 does not affect vz (nor ωx , ωy ) ωz depends only by θ̇1 S1 ωy = −C1 ωx : ωx and ωy are not independent the first three rows may also be obtained by derivation of 0 p3 In the “linear velocity” case (i.e. the first three rows only) det(J) = −a2 a3 S3 (a2 C2 + a3 C23 ) Therefore det(J) = 0 in two cases: 0 S3 = 0 =⇒ θ3 = π (a2 C2 + a3 C23 ) = 0 i.e. when the wrist is on the z axis (px = py = 0): shoulder singularity C. Melchiorri (DEIS) Kinematic Model 117 / 164 Differential Kinematics Examples Example 3 dof spherical manipulator Canonical transformation matrices C1 S1 0 H1 = 0 0 −S1 C1 0 0 0 0 −1 0 1 0 2 H3 = 0 0 0 0 ,1 H2 = 0 1 0 1 0 0 0 0 1 0 C2 S2 0 0 0 0 d3 1 0 0 1 0 S2 −C2 0 0 0 0 d2 1 Kinematic model: C1 C2 C2 S1 0 T3 = −S2 0 C. Melchiorri (DEIS) −S1 C1 0 0 C1 S2 S1 S2 C2 0 Kinematic Model −d2 S1 + d3 C1 S2 d2 C1 + d3 S1 S2 C2 d3 1 118 / 164 Differential Kinematics Examples Example 3 dof spherical manipulator The Jacobian is J= with 0 z0 = 0 1 and z0 × (p3 − p0 ) z0 0 p0 = p1 = 0 0 C. Melchiorri (DEIS) z1 × (p3 − p1 ) z1 −S1 z1 = C1 0 −d2 S1 p2 = d2 C1 0 Kinematic Model z2 0 C1 S2 z2 = S1 S2 C2 −d2 S1 + d3 C1 S2 p3 = d2 C1 + d3 S1 S2 C2 d3 119 / 164 Differential Kinematics Examples Example 3 dof spherical manipulator Then J= −d2 C1 − d3 S1 S2 −d2 S1 + d3 C1 S2 0 0 0 1 d3 C1 C2 d3 S1 C2 −d3 S2 −S1 C1 0 C1 S2 S1 S2 C2 0 0 0 Note that: q̇3 does not affect ω; ωz depends only on q̇1 ; S1 ωy = −C1 ωx . C. Melchiorri (DEIS) Kinematic Model 120 / 164 Differential Kinematics Examples Example: 3 dof spherical wrist J= −d6 S4 S5 d6 C4 S5 0 0 0 1 d6 C4 C5 d6 C5 S4 −d6 S5 −S4 C4 0 0 0 0 C4 S5 S4 S5 C5 By choosing d6 = 0, i.e. the origin of F6 is in the intersection point of the three joint axes, then J= 0 0 0 0 0 1 0 0 0 −S4 C4 0 C. Melchiorri (DEIS) 0 0 0 C4 S5 S4 S5 C5 With this expression, however, the linear velocity of the end-effector is not computed. det(J) = 0 =⇒ S5 = 0, i.e. θ5 = 0, π. In this case it is not possible to determine individually θ̇4 and θ̇6 . Kinematic Model 121 / 164 Differential Kinematics Examples Example: PUMA 260 Only revolute joints are present: z0 × (p6 − p0 ) z1 × (p6 − p1 ) z2 × (p6 − p2 ) J= z0 z1 z2 z3 × (p6 − p3 ) z4 × (p6 − p4 ) z5 × (p6 − p5 ) z3 z4 z5 C. Melchiorri (DEIS) Kinematic Model 122 / 164 Differential Kinematics Examples Example: PUMA 260 If d6 = 0: J = −d3 C1 − S1 (a2 C2 + d4 S23 ) −d3 S1 + C1 (a2 C2 + d4 S23 ) 0 0 0 1 0 0 0 C1 S23 S1 S23 −C23 C. Melchiorri (DEIS) 0 0 0 S1 C4 − C1 C23 S4 −C1 C4 − S1 C23 S4 −S23 S4 C1 (d4 C23 − a2 S2 ) S1 (d4 C23 − a2 S2 ) a2 C2 + d4 S23 S1 −C1 0 0 0 0 d4 C1 C23 d4 S1 C23 d4 S23 S1 −C1 0 C1 S23 C5 + C1 C23 C4 S5 + S1 S4 S5 S1 S23 C5 + S1 C23 C4 S5 − C1 S4 S5 −C23 C5 + S23 C4 S5 Kinematic Model 123 / 164 Statics - Singularities - Inverse differential kinematics Kinematic Model of Robot Manipulators Statics - Singularities - Inverse differential kinematics Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 124 / 164 Statics - Singularities - Inverse differential kinematics Statics Forces The relation ẋ = Jq̇ maps velocities defined in the joint space to corresponding velocities in the operational space. On this basis, exploiting the virtual work principle, a similar mapping can be established considering the force domain. Since the work, computed as the product between the applied force and the displacement, is invariant with respect to the frame used to compute it, one obtains: wT dx = τ T dq being w = [f T nT ]T a 6 × 1 vector composed by the linear forces f and torques n applied to the manipulator, and τ the n × 1 vector collecting the forces/torques applied to the joints. C. Melchiorri (DEIS) Kinematic Model 125 / 164 Statics - Singularities - Inverse differential kinematics Statics Forces By recalling that dx = J(q)dq one obtains τ = JT (q)w defining the relationship between the joint torque vector τ and the force vector w, applied to the manipulator. J(q) =⇒ mapping between q̇ and [vT , ω T ]T JT (q) =⇒ mapping between [f T , nT ]T and τ J(q) q̇ (τ ) ẋ (w) JT (q) C. Melchiorri (DEIS) Kinematic Model 126 / 164 Statics - Singularities - Inverse differential kinematics Transformation of reference frame for the Jacobian Transformation of reference frame for the Jacobian Let’s consider two frames Fa and Fb attached to a rigid body (“robot”). If a ẋ is the end-effector velocity in Fa , then a a ẋ = J q̇ It is known that it is possible to transform the same velocity in another frame Fb as b ẋ = b Ga a ẋ where b Ga is the transformation matrix between the two frames: b Ra − b Ra a Pab b Ga = b 0 Ra C. Melchiorri (DEIS) Kinematic Model 127 / 164 Statics - Singularities - Inverse differential kinematics Transformation of reference frame for the Jacobian Transformation of reference frame for the Jacobian Then b ẋ = b J q̇ = b Ga a ẋ = b Ga a J q̇ and therefore the transformation for the Jacobian between the two frames Fa and Fb is given by b J= b Ga a J Similar considerations hold in the force domain (where the transpose Jacobian is used). Note that if the two frames are not rigidly attached to the robot, then the Jacobian transformation between them is defined only by the rotation matrix b Ra : b Ra 0 b a J= J b 0 Ra C. Melchiorri (DEIS) Kinematic Model 128 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Singular configurations The Jacobian is a 6 × n matrix mapping the IRn joint velocity space to the IR6 operational velocity space: ẋ = J(q)q̇ From an infinitesimal point of view, this relationship is expressed as dx = J(q)dq that can be interpreted as a relationship between infinitesimal displacements in IRn and IR6 . Singular configurations or Singulariities In general, rank(J(q)) = min (6, n). On the other hand, since the elements of J are function of the joints, some robot configurations exist such that the Jacobian looses rank. These configurations are denoted as kinematic singularities. In these configurations, there are “directions” (vectors ẋ) in IR6 without any correspondent “direction” (q̇) in IRn : these directions cannot be actuated and the robot ”looses” a motion capability. C. Melchiorri (DEIS) Kinematic Model 129 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Singular configurations The singular configurations are important for several reasons: 1 They represents configurations in which the motion capabilities of the robot are reduced: it is not possible to impose arbitrary motions of the end-effector 2 In the proximity of a singularity, small velocities in the operational space may generate large (infinite) velocities in the joint space 3 They correspond to configurations that have not a well defined solution to the inverse kinematic problem: either no solution or infinite solutions. There are two types of singularities: 1 Boundary singularities, that correspond to points on the border of the workspace, i.e. when the robot is either fully extended or retracted. These singularities may be easily avoided by not driving the manipulator to the border of its workspace 2 Internal singularities, that occur inside the reachable workspace and are generally caused by the alignment of two or more axes of motion, or else by the attainment of particular end-effector configurations. These singularities constitute a serious problem, as they can be encountered anywhere in the reachable workspace for a planned path in the operational space. C. Melchiorri (DEIS) Kinematic Model 130 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Example Consider the Jacobian J(q) J= 1 1 0 0 Then rank(J) = 1 and dx = dq1 + dq2 dy = 0 For any value of dq1 , dq2 , then dy = 0. Any vector dx whose second element is not null represents an instantaneous motion that cannot be achieved. C. Melchiorri (DEIS) Kinematic Model 131 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Example Jacobian: J= 1 1 0 0 τ = JT f = 1 1 In the force domain 0 0 fx fy then τ1 = fx τ2 = fx then, fy does not affect the joint torques, and any torque vector such that τ1 = −τ2 does not generate any force on the environment. C. Melchiorri (DEIS) Kinematic Model 132 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Example Consider the 2 dof planar manipulator: J(q) = If θ1 = θ2 = 0, then J(q) = 0 a1 + a2 Therefore Moreover T J (q) = If 0 a2 = dx dy 0 2 0 1 0 2 −a1 S1 − a2 S12 a1 C1 + a2 C12 0 1 −a2 S12 a2 C12 if a1 = a2 = 1 = 0 = 2 dq1 + dq2 =⇒ τ1 τ2 = = 2 fy fy τ2 = −2 τ1 → fx = fy = 0. C. Melchiorri (DEIS) Kinematic Model 133 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Example Consider the 2 dof planar manipulator: J(q) = −a1 S1 − a2 S12 a1 C1 + a2 C12 −a2 S12 a2 C12 Consider the velocity vector ẋ = [−1, −1]T . By computing q̇ = J−1 (q)ẋ: If θ1 = 0o , θ2 = 1o then q̇ = −58.9 115.59 If θ1 = 0o , θ2 = 10o then q̇ = −6.67 12.43 C. Melchiorri (DEIS) Kinematic Model (rad/sec) = (rad/sec) = −3374.7 6622.8 −382.16 712.18 (o /sec) (o /sec) 134 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Example Consider the 2 dof planar manipulator: J(q) = −a1 S1 − a2 S12 a1 C1 + a2 C12 −a2 S12 a2 C12 Velocita‘ di giunto (dq2 dash) 5000 4000 3000 Plot of q̇ = J(q) ẋ −1 with ẋ = −1 and θ1 = 0, θ2 ∈ [0.0005, 0.01] rad dq1, dq2 [rad/sec] −1 2000 1000 0 −1000 −2000 −3000 0 C. Melchiorri (DEIS) 0.001 0.002 Kinematic Model 0.003 0.004 0.005 0.006 q2 [rad] 0.007 0.008 0.009 0.01 135 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Singularity decoupling In case of complex structures, the analysis of the kinematic singularities via the Jacobian determinant det(J) may result quite difficult. In case of manipulators with spherical wrist, by similarity with the inverse kinematics, it is possible to decompose the study of the singular configurations into two sub-problems: arm singularities (e.g. the first three joints) wrist singularities If J ∈ IR6×n then J= " J11 J12 J21 J22 # where, since the last three joints are of the revolute type: J12 = [z3 × (p6 − p3 ), z4 × (p6 − p4 ), z5 × (p6 − p5 )] C. Melchiorri (DEIS) Kinematic Model J22 = [z3 , z4 , z5 ] 136 / 164 Statics - Singularities - Inverse differential kinematics Kinematic singularities Singularity decoupling Singularities depend on the mechanical structure, not on the frames chosen to describe kinematics. Therefore, it is convenient to choose the origin of the end-effector frame at the intersection of the wrist axes, where also the last frames are placed. Then: # " J11 0 J12 = [0, 0, 0] =⇒ J= J21 J22 In this manner, J is a block lower-triangular matrix, and det(J) = det(J11 )det(J22 ) The singularities are then decoupled, since det(J11 ) = 0 gives the arm singularities, while det(J22 ) = 0 gives the wrist singularities. C. Melchiorri (DEIS) Kinematic Model 137 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics The ‘direct’ relationship between joint and operational space velocities: ẋ = J(q)q̇ is defined by the m × n Jacobian matrix J. Inverse problem: ẋ =⇒ q̇ A solution of the linear system ẋ = J(q)q̇ is seeked. In case m = n, the inverse of the Jacobian matrix is employed: q̇ = J−1 (q)ẋ Otherwise, it is necessary to use its (Moore-Penrose) pseudo-inverse q̇ = J+ (q)ẋ J+ = JT (JJT )−1 if m < n (right pseudo-inverse : JJ+ = I) where: J+ = (JT J)−1 JT C. Melchiorri (DEIS) if m > n (left pseudo-inverse: J+ J = I) Kinematic Model 138 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics If m 6= n there are two cases: J J a) m < n • a): b) m > n JJ+ = Im J JT (JJT )−1 = Im • b): =⇒ J+ = JT (JJT )−1 J+ J = In (JT J)−1 JT J = In C. Melchiorri (DEIS) =⇒ Kinematic Model J+ = (JJT )−1 JT 139 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics Solution of ẋ = Jq̇ if m = n, det(J) 6= 0 J(q) J−1 (q) The equation ẋ = Jq̇ (as well as q̇ = J−1 ẋ) has an unique solution: ∀ ẋo → ∃ ! q̇o = J−1 ẋo C. Melchiorri (DEIS) such that Kinematic Model ẋo = Jq̇o = J J−1 ẋo 140 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics Solution of ẋ = Jq̇ if m < n J(q) 0 N (J) IRn IRm • rank(J) = min(m, n) = m • ∀ ẋ ∃ q̇ such that ẋ = Jq̇ + → R(J) = IRm (multiple solutions!) ∃ N (J) such that ∀ q̇ ∈ N (J) → ẋ = J q̇ = 0 • q̇ = J ẋ + → ẋ = J (J ẋ + q̇N ) = ẋ, + + → q̇ = J ẋ + qN + ∀q̇N ∈ N (J) → q̇ = J ẋ + (I − J J)y general expression of the solution • q̇ = J+ ẋ has C. Melchiorri (DEIS) dim(N (J)) = n − m (I − J+ J) base of N (J) minimum norm Kinematic Model 141 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics Solution ofi ẋ = Jq̇ if m > n R(J) IRm IRn • rank(J) = min(m, n) = n • ∀ q̇ ∃ ! ẋ such that ẋ = Jq̇ ∈ R(J) • ∀ ẋ ∈ R(J) ∃ ! q̇ such that ẋ = Jq̇ (q̇ = J−1 ẋ) • If ẋ 6∈ R(J) →6 ∃ q̇ such that ẋ = Jq̇ • If ẋ0 6∈ R(J) → ∃ q̇0 = J+ ẋ0 → ẋ = Jq̇0 = JJ+ ẋ0 6= ẋ0 (JJ+ 6= I) • kẋ − ẋ0 k is minimum C. Melchiorri (DEIS) Kinematic Model 142 / 164 Statics - Singularities - Inverse differential kinematics Inverse Differential Kinematics Inverse Differential Kinematics Solution of ẋ = Jq̇ in general if m 6= n N (J) R(J) IRn IRm • rank(J) = p < min(m, n) • The solution given by the pseudo-inverse q̇s = J+ ẋ is such that (ẋs = Jq̇s ): ( kẋs − ẋk the norm of the error is minimum kq̇s k C. Melchiorri (DEIS) the norm of the solution is minimum Kinematic Model 143 / 164 Statics - Singularities - Inverse differential kinematics Accelerations Accelerations If accelerations are of interest, by differentiating ẋ = Jq̇ one obtains d J(q) q̇ dt If an acceleration vector ẍ is given in the operational space, the corresponding vector q̈ is computed as a solution of ẍ = J(q)q̈ + b = J(q)q̈ being b = ẍ − d J(q) dt q̇. Then q̈ = J−1 b if the inverse of the Jacobian exists q̈ = J+ b otherwise If the Jacobian is not square (e.g. in case of redundant manipulators (m < n) or with less than 6 dof), an exact solution of ẋ = Jq̇ (b = Jq̈) exists iff ẋ ∈ R(J) (b ∈ R(J)). A vector a is in R(A) iff rank([A, a]) = rank[A] C. Melchiorri (DEIS) Kinematic Model 144 / 164 Inverse kinematics algorithms Kinematic Model of Robot Manipulators Inverse kinematics algorithms Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 145 / 164 Inverse kinematics algorithms Introduction Inverse kinematics algorithms The Jacobian matrix can be used also for the solution of the inverse kinematic problem. If a desired trajectory is known in terms of the velocity v(kT ) = vk , a simple approach is to consider qk+1 = qk + J−1 (qk )vk T equivalent to a numerical integration over time of the velocity. This operation has two major drawbacks affecting the computation of the exact solution: numerical drifts initialization problems These problems may be avoided by implementing a feedback scheme accounting for the operational space errors e = xd − x. Then ė = ẋd − ẋ = ẋd − Ja (q)q̇ (2) The vector q̇ must be chosen so that the error e converges to zero. C. Melchiorri (DEIS) Kinematic Model 146 / 164 Inverse kinematics algorithms Jacobian (pseudo)-inverse Scheme 1: Jacobian (pseudo)-inverse Assuming that Ja is invertible, then q̇ = J−1 a (q) (ẋd + Ke) By substituting this expression in (2) one obtains ė + Ke = 0 representing, if K is positive definite, an asymptotically stable system. Note that the convergence velocity depends on K. ẋd xd e ✲ ❥ ✲ − ✻ K x C. Melchiorri (DEIS) ❄ ✲ ❥ ✲ J−1 (q) a f(·) Kinematic Model q̇ ✲ R q ✲ ✛ 147 / 164 Inverse kinematics algorithms Jacobian transpose Scheme 2: Jacobian transpose This scheme is based on the Lyapunov approach. A Lyapunov function must be found guaranteeing the convergence to zero of the error e. Let’s assume 1 T e Ke 2 with K symmetric and positive definite. In this manner V (e) = V (e) > 0, ∀e 6= 0, V (0) = 0 By differentiating V (e) one obtains V̇ C. Melchiorri (DEIS) = eT Kė = eT Kẋd − eT Kẋ = eT Kẋd − eT KJa (q)q̇ Kinematic Model 148 / 164 Inverse kinematics algorithms Jacobian transpose Scheme 2: Jacobian transpose From V̇ = eT Kẋd − eT KJa (q)q̇ By choosing q̇ = JT a (q)Ke one obtains V̇ = eT Kẋd − eT KJa (q)JT a (q)Ke If ẋd = 0 then V̇ < 0 and the system is asymptotically stable if Ja is full rank. If Ja is not full rank, then the condition q̇ = 0 may be obtained also with e 6= 0 (Ke ∈ null(JT a )). xd ✲ ❥ e ✲ − ✻ x C. Melchiorri (DEIS) K q̇ ✲ ✲ JT (q) a f(·) Kinematic Model R q ✲ ✛ 149 / 164 Inverse kinematics algorithms Jacobian transpose Example Consider the non linear function z = f(q) = x y = " q13 + sin(q1 q2 ) q1 q23 + sin(q12 + 2q2 ) # The Jacobian is J(q) = " 3q12 + q2 cos(q1 q2 ) q1 cos(q1 q2 ) q23 + 2q1 cos(q12 + 2q2 ) 3q1 q22 + 2cos(q12 + 2q2 ) # Assuming z0 = [0.1, 0.2]T , find q0 = f −1 (z0 ). C. Melchiorri (DEIS) Kinematic Model 150 / 164 Inverse kinematics algorithms Jacobian transpose Example With null initial conditions (q1 = q2 = 0), the following results are computed with the two algorithms (Ts = 0.001 s). K = 100 (pseudo-) Inverse J−1 Transpose JT Algoritmo J^T; valori x, y (dash) Algoritmo J^−1; valori x, y (dash) 0.2 0.2 0 0 −0.2 −0.2 −0.4 −0.4 −0.6 0 0.02 0.04 0.06 0.08 0.1 0.12 time [s] Valori q1, q2 (dash) 0.14 0.16 0.18 0.2 −0.6 0 0 0 −0.5 −0.5 −1 −1 −1.5 0 0.02 0.04 0.06 0.08 C. Melchiorri (DEIS) 0.1 0.12 time [s] 0.14 0.16 0.18 0.2 −1.5 0 0.02 0.04 0.06 0.08 0.02 0.04 0.06 0.08 Kinematic Model 0.1 0.12 time [s] Valori q1, q2 (dash) 0.1 0.12 time [s] 0.14 0.16 0.18 0.2 0.14 0.16 0.18 0.2 151 / 164 Inverse kinematics algorithms Jacobian transpose Example K = 1000 Transpose JT (pseudo-) Inverse J−1 Algoritmo J^−1; valori x, y (dash) 0.5 0 Unstable −0.5 0 0.002 0.004 0.006 0.008 0.01 0.012 time [s] Valori q1, q2 (dash) 0.002 0.004 0.006 0.008 0.014 0.016 0.018 0.02 0.014 0.016 0.018 0.02 0 −0.5 −1 −1.5 0 C. Melchiorri (DEIS) 0.01 0.012 time [s] Kinematic Model 152 / 164 Measures of performance Kinematic Model of Robot Manipulators Measures of performance Claudio Melchiorri Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna email: [email protected] C. Melchiorri (DEIS) Kinematic Model 153 / 164 Measures of performance Introduction Manipulator performance Definition of criteria in order to compute the performance, in both the velocity and force domains, achievable by a manipulator. “Attitude” of a manipulator in a given configuration to perform a given task. Considered “criteria”: Manipulability ellipsoids; Manipulability measures; Polytopes. C. Melchiorri (DEIS) Kinematic Model 154 / 164 Measures of performance Manipulability ellipsoids Manipulability ellipsoids The manipulability ellipsoids consider the mechanical gain of the manipulator, in terms of both velocity and force. VELOCITY Consider a unit sphere in the joint velocity space q̇T q̇ = 1 This sphere may be considered as a “cost” (energy entering in the system); it is of interest to compute the corresponding entity in the operational space (i.e. the achieved performance). From ẋ = Jq̇ we have ẋT (JJT )+ ẋ = 1 This is a quadratic form representing, in the operational space IRm , an ellipsoid. As known from geometry, this ellipsoid has shape and orientation defined by the kernel of the quadratic form, i.e. by (JJT )+ : Direction of the principal axes: defined by the eigenvectos ui of JJT ; p Length of the principal axes: given by the singular values of J, σi = λi (JJT ) . As a matter of fact, from the singular value decomposition it follows that: J = USVT C. Melchiorri (DEIS) JJT = US2 UT Kinematic Model (JJT )+ = US−2 UT 155 / 164 Measures of performance Manipulability ellipsoids Manipulability ellipsoids FORCE Consider the mapping in the force/torque domain τTτ = 1 from which (τ = JT w): wT JJT w = 1 This equation defines an ellipsoid in the operational force space IRm . Similarly to the velocity case, we have that: The principal axes of the ellipsoid are directed along the eigenvectors ui di JJT ; Their length are proportional to the inverse of the singular values σi di J. This is an important and remarkable result, that confirms the duality of the velocity and force spaces: The directions along which good performance are obtained in the velocity domain are directions along which poor performance are obtained in the force domain, and viceversa C. Melchiorri (DEIS) Kinematic Model 156 / 164 Measures of performance Manipulability ellipsoids Manipulability ellipsoids Some considerations: Actuation needs a “large” gain; it is better along directions corresponding to large singular values; Control: needs a “small” gain; it is better along directions whit smaller singular values (better sensitivity). =⇒ The “optimal direction” for velocity (force) actuation is also the “optimal direction” for controlling the force (velocity) C. Melchiorri (DEIS) Kinematic Model 157 / 164 Measures of performance Manipulability ellipsoids Example: 2 dof planar manipulator Velocity ellipsoids: Force ellipsoids: 3 3 2 2 1 1 0 0 -1 -1 -2 -2 -3 -3 -2 -1 0 C. Melchiorri (DEIS) 1 2 3 -3 -3 Kinematic Model -2 -1 0 1 2 3 158 / 164 Measures of performance Manipulability ellipsoids Other manipulability measures 1 Manipulability measure w (q) = p det(JJT ) proportional to the volume of the velocity manipulability ellipsoid. If the manipulator is not redundant, then w (q) = |det(J)| 2 Another criterion is σmin σmax i.e. the ratio between the minimum and maximum eigenvalues (the inverse of the conditioning number of J). The more this fraction is “close” to one, the more the ellipsoid is close to a sphere, and all the “directions” give more or less the same performance (no “worst case” directions). w (q) = 3 It is also possible to consider w (q) = σmin giving the “minimum” achievable performance (along any direction in IRm ). C. Melchiorri (DEIS) Kinematic Model 159 / 164 Measures of performance Velocity and force polytopes Velocity and force polytopes The actuation system has physical limits both in the velocity and force/torque domain (maximum values): q̇i ,min ≤ q̇i ≤ q̇i ,max τi ,min ≤ ≤ τi ,max τi These bounds geometrically represent polytopes (e.g. volumes delimited by planar surfaces) in the joint velocity and force spaces IRn : Pq , Pτ . The Jacobian matrix allows to transform these polytopes from the joint to the operational space. Since the mapping is linear (expressed through the matrix operator J(q)), one obtains volumes in the operational space still delimited by planar surfaces: the polytopes Pv , Pw in IRm . C. Melchiorri (DEIS) Kinematic Model 160 / 164 Measures of performance Velocity and force polytopes Velocity and force polytopes Directions along which the maximum performance are obtained in the operational space are those corresponding to one of the vertices of Pv , Pw . These directions may be computed with techniques and algorithms from the operational research field, and are less “elegant” with respect those employed to compute the manipulability ellipsoids. As general rule, however, we can observe that the maximum performance in the operational space are achieved in the vertices of the polytopes Pq , Pτ . C. Melchiorri (DEIS) Kinematic Model 161 / 164 Measures of performance Velocity and force polytopes Example: 2 dof planar manipulator Velocity polytopes: Force polytopes: 3 3 2 2 1 1 0 0 -1 -1 -2 -2 -3 -3 -2 -1 0 C. Melchiorri (DEIS) 1 2 3 -3 -3 Kinematic Model -2 -1 0 1 2 3 162 / 164 Measures of performance Velocity and force polytopes Example Velocity ellipsoid and polytope Force ellipsoid and polytope 2.5 2.5 2 2 1.5 1.5 1 1 0.5 0.5 0 0 -0.5 -0.5 -1 -0.5 0 0.5 C. Melchiorri (DEIS) 1 1.5 2 -1 -0.5 2.5 Kinematic Model 0 0.5 1 1.5 2 2.5 163 / 164 Measures of performance Velocity and force polytopes Example Velocity and force ellipsoids and polytopes 2.5 2 1.5 1 0.5 0 -0.5 -1 -0.5 0 C. Melchiorri (DEIS) 0.5 1 1.5 2 2.5 Kinematic Model 164 / 164