#### Velocity of 6-Joint Robot Arm – Translation

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For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

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For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

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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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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 redundant robot the inverse kinematics can be easily solved using a numerical approach.

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For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.

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We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.

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We consider a robot with four joints that moves its end-effector in 3D space.

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We consider a robot with three joints that moves its end-effector on a plane.

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We consider a robot, which has two rotary joints and an arm.