Search Results for: velocity term

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.

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 […]

By inverting the Jacobian matrix we can find the joint velocities required to achieve a particular end-effector velocity, so long as the Jacobian is not singular.

As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

A more efficient trajectory has a trapezoidal velocity profile.

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.

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

We revisit the important points from this masterclass.

We summarise the important points from this masterclass.

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.