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Analyzing a robot arm that moves in 3D

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

Types of robots

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We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.

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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  • Queensland University of Technology
  • Australian Centre for Robotic Vision
  • IEEE Robotics and Automation Society
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