We consider the simplest possible robot, which has one rotary joint and an arm.
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For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
We consider a robot, which has two rotary joints and an arm.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
We consider a robot with three joints that moves its end-effector on a plane.
We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.
We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.