Search Results for: centripetal

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

We describe the velocity coupling terms of the robot as a matrix which represents how the torque on one joint depends on the velocity of other joints.

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.