Search Results for: joint limit

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.

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

A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.

To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.

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.

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

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