We consider a robot with three joints that moves its end-effector on a plane.
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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.
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 extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.
We consider a robot, which has two rotary joints and an arm.
We repeat the process of the last section but this time consider it as an algebraic problem.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
We consider the simplest possible robot, which has one rotary joint and an arm.
We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.