#### Velocity of 2-Joint Planar Robot Arm

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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.

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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.

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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 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.

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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 […]

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Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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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.