
Velocity Coupling
lesson
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.
lesson
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.
lesson
We describe inertia of the robot as a matrix which represents how inertia of a joint depends on the position of all the joints, and how the torque on one joint depends on the acceleration of other joints.
lesson
We examine the gravity term and explore the effect of changing robot payload.
lesson
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.
lesson
Now we introduce a variant of the Jacobian matrix that can relate our angular velocity vector back to our rates of change of the roll, pitch and yaw angles.
lesson
We consider a robot with four joints that moves its end-effector in 3D space.
lesson
We consider a robot, which has two rotary joints and an arm.