#### 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

Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.

lesson

The image Jacobian depends not only on the image plane coordinates but also the distance from the camera to the points of interest. If this distance is not known, what can we do? Let’s look at how we can determine this distance, and how the optical flow equation can be rearranged to convert from observed […]

lesson

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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We revisit the important points from this masterclass.

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We summarise the important points from this masterclass.

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We previously learnt how to derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame. Now we extend that to the 3D case.

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We can also derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame.

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

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We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]