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Differential Relationship
Consider simple mechanism with 2-degrees of freedom Each link can rotate independently Rotation of link 1 (1), relative to reference frame 2nd link rotation (2), relative to link 1 Velocity of point B :
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Velocity relationship by differentiating the equation that describe the position of point B :
In matrix form
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JACOBIAN
Representation of geometry of the element of the mechanism in time Its allow conversion of differential motion of individual joints to differential motion of point of interest Also relate individual joint motion to overall mechanism It is time related , vary in time As per earlier slide Jacobian was formed by differentiated position equations with respect to ,
1 2 1 2
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Differentiating
In matrix
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JACOBIAN Cont.
Or
dx, dy and dz differential motion of the hand along x, y and z axis x, y and z differential rotation of the hand around x, y and z axis D differential motion of the joint
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Differential Translation
dx, dy and dz with respect to x, y and z axis
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Differential Transformation (translation + rotation) Original frame = T Differential transformation = dT [T+dT] = [Trans(dx,dy,dz) Rot(k, d)] [T] [dT] = [Trans(dx,dy,dz) Rot(k, d) I][T] , {I = Unit Matrix} = Trans(dx,dy,dz) Rot(k, d) I = Differential Operator
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THANK YOU
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