LESSON

# Rate of Change of Pose in 2D

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#### Transcript

In previous lectures we talked about kinematics and in particular we talked about forward kinematics. And that's the problem of: given the joint angles of the robot, one is the pose of the robots end effector. We then moved on and we talked about inverse kinematic which is the problem: given the end effector pose, what are the joint angles needed to achieve that?

In this lecture we are going to be talking about velocities. We're interested in the relationship between the velocity of the joint angles and the velocity of the end effector. We're interested in the derivative of the end effector pose.

And one of the topics we're going to discuss is what exactly does it mean to take the derivative of the pose of the end effector of a robot. We're going to start our discussion simply and consider robots that operate only in the plane. And in the next lecture we are going to talk about this for robots that move within three dimensions.

#### Code

We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

### Skill level

Undergraduate mathematics

This content assumes high school level mathematics and requires an understanding of undergraduate-level mathematics; for example, linear algebra - matrices, vectors, complex numbers, vector calculus and MATLAB programming.