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

lesson

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

lesson

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

lesson

For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

lesson

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

lesson

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

lesson

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

lesson

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

lesson

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

lesson

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

lesson

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

lesson

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.