#### 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

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.