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.
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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.
We revisit the important points from this masterclass.
We summarise the important points from this masterclass.
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.
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.
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.
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 will learn about the relationship, in 2D, 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.
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.