#### Velocity of 3-Joint Planar Robot Arm

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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We consider a robot with three joints that moves its end-effector on a plane.

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We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

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

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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 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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For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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We consider a robot with four joints that moves its end-effector in 3D space.

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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.