#### Velocity of 2-Joint Planar Robot 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.

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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.

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We consider a robot, which has two rotary joints and an arm.

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We repeat the process of the last section but this time consider it as an algebraic problem.

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We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

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We consider the simplest possible robot, which has one rotary joint and an arm.

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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.

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As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

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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.

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We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

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Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])