#### Velocity Ellipse in 2D

lesson

The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.

lesson

The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.

lesson

We revisit the important points from this masterclass.

lesson

We summarise the important points from this masterclass.

lesson

The Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.