Modelado y Control de Sistemas Mecatrónicos
y Robots
Problem: Jacobian Matrix
Dr. Ing. Ricardo Vázquez Martín
Escuela de Ingenierías Industriales
Universidad de Málaga
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 1
Statement
• Consider the six-
link manipulator IRB120
from ABB robotics,
where qi and li
represents the joint
configuration and the
length of the i-th
element, respectively.
On the other hand, the
value (x, y, z, α, β, ) is
the Cartesian position
and orientation of the
end-effector respect to
the manipulator base
reference frame.
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 2
Statement
• Solve the following questions:
1. Compute de Jacobian matrix of the IRB120 6-DoF manipulator,
with the robot base as the global reference frame, using the
Geometric Jacobian.
2. Compute the Cartesian velocities of the end-effector respect to
the base of the robot when:
3. It is required to move the end-effector from point A to point B,
along the axis Z of the global reference frame at a constant
velocity of 10 cm/s. Additionally, during the movement, it is
desired to keep the end-effector of the manipulator parallel to
axis Z of the global reference frame, upside down. Compute de
joint velocities and represent its evolution over time.
4. Are there singularities during the motion from point A to point
B?. If there is any singular configuration, find the direction in
which the manipulator cannot be moved.
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 3
Direct kinematics - ABB IRB120
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 4
Direct kinematics - ABB IRB120
• Firstly, we have to solve the Direct Kinematic problem:
i αi ai di θi DH1
(2)
1 0T
1
(3)
2 1T
2
(4) 2T
Z0 3 3
4 3T
4
(1) Y0
5 4T
5
X0 5T
6 6
(5)
(6)
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 5
Direct kinematics - ABB IRB120
• Firstly, we have to solve the Direct Kinematic problem:
Z1
i αi ai di θi DH1
(2)
X1
Z2 1 -90º 0 290 θ1 0T
1
Y1 (3)
2 0 270 0 θ2 1T
2
X2
(4) θ3 2T
3 -90º 70 0 3
Z0 Y2 X3
4 90º 0 302 θ4 3T
4
Y3 Z3
(1) Y0
5 -90º 0 0 θ5 4T
5
X0 6 0 0 72 θ6 5T
6
(5) Z4
Y5
Z 5, X4,
Y4 X5
(6)
Y6
X6
Z6
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 6
Direct kinematics - ABB IRB120
• Firstly, we have to solve the Direct Kinematic problem:
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 7
Direct kinematics - ABB IRB120
• Firstly, we have to solve the Direct Kinematic problem:
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 8
Jacobian Matrix - ABB IRB120
1. Compute de Jacobian matrix of the IRB120 6-DoF manipulator, with the robot
base as the global reference frame, using the Geometric Jacobian.
Compute the Geometric Jabian for six revolution joints:
where:
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 9
Jacobian Matrix - ABB IRB120
• The first joint only contributes to linear velocities in X and Y
coordinates and full angular velocity in Z.
• The second and third joints do not contribute to angular velocity in Z.
• The sixth joint does not contribute to linear velocities of the end-
effector.
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 10
Jacobian Matrix - ABB IRB120
2. Compute the Cartesian velocities of the end-effector respect to the base of
the robot when:
For this part, it is only necessary to evaluate the Jacobian matrix in the above
configuration and compute de end-effector velocities.
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 11
Jacobian Matrix - ABB IRB120
3. It is required to move the end-effector from point A to point B, along the axis Z
of the global reference frame at a constant velocity of 0.1 m/s. Additionally, during
the movement, it is desired to keep the end-effector of the manipulator parallel
to axis Z of the global reference frame, pointing upside down. Compute de joint
velocities and represent its evolution over time.
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 12
Results
Joint velocities along the path from A to B:
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 13
Ricardo Vázquez Martín
Departamento de Ingeniería de
Sistemas y Automática
Escuela de Ingenierías Industriales
Universidad de Málaga
[email protected]
www.uma.es/isa
@ricardovmartin
Ricardo Vázquez Martín – Departamento de Ingeniería de Sistemas y Automática – Universidad de Málaga 14
