Velocity analysis of a robot is divided into forward and inverse velocity kinematics. Having the time rate of joint variables and calculating the Cartesian velocity of end-effector in the global coordinate frame is the forward velocity kinematics. Determination of the time rate of joint variables based on velocity of end-effector is the inverse velocity kinematics.

    Each link of a serial robot has an angular and a translational velocity. The angular velocity of link (i) in the global coordinate frame can be found as a summation of the global angular velocities of its lower links. The velocity kinematics of a robot is defined by the relationship between joint speeds and Cartesian velocity of the end-effector. The coefficient matrix between them is called the Jacobian matrix J. Having J, we are able to find the end-effector speeds for a given set of joint speeds and vice versa. Jacobian is a function of joint coordinates and is the main tool in velocity kinematics of robots. We practically calculate J by Jacobian generating vectors.


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    Titel :

    Velocity Kinematics


    Beteiligte:
    Jazar, Reza N. (Autor:in)

    Erschienen in:

    Theory of Applied Robotics ; Kapitel : 8 ; 415-487


    Erscheinungsdatum :

    2021-12-08


    Format / Umfang :

    73 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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