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Actuators have finite capability, that is they have a maximum torque, velocity and power rating.

Electric motors are typically quite weak, they produce a low torque, so it’s very common to add a reduction gearbox.

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

If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.