Velocity Kinematics & Jacobian Matrix | Robotics 101

This video covers how to calculate the velocity of a robot's end-effector and dives into the Jacobian matrix with both a fundamental understanding of what it is and how to find it.

The velocity is comprised of both linear and angular velocity. The Jacobian matrix is one that maps the joint space to the end-effector space. Simply speaking, if you have a Jacobian of a robot, you can multiply it with the joint velocity and get to know how the robot's end-effector (gripper) behaves.

00:00 - What is the end-effector velocity?
01:36 - How to find end-effector velocity
04:20 - Jacobian Matrix & what it is
06:59 - Diving into Jacobains a little more
08:35 - Warning when using the equation


⏩ Watch the next video where we explore the velocity equation in further detail (consider it the 2nd part of this video):    • Velocity Kinematics & Manipulability Ellip...  

🌟 If you haven't watched the video on Forward Kinematics, I would highly encourage you to check that out first:    • Forward Kinematics of robots | Planar 2D r...  

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This video is part of the Robotics 101 tutorial series which covers kinematics and modeling of 2D & 3D robots.

This tutorial lesson series starts from the basics of robotics (assuming no prior knowledge) and gradually builds on in bite-sized videos of 10 minutes or less. By following along, you will soon become extremely good in the kinematics and modeling aspects of robots. And these will help you to design and build robots.

Here's what we will cover in this video series:
1. Co-ordinate Transformation for 2D & 3D robots
2. Homogeneous Transformations for 2D & 3D robots
3. Forward Kinematics
4. Inverse Kinematics
5. Robotic wrists (end-effector)
6. End-effector Velocities and Jacobians
7. Singularities of robots
8. Gimbal Locks
9. Forces & Torques

I will be uploading 1 video per week. If you find these helpful, don't forget to share and subscribe!

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👉 Link to the Robotics 101 playlist
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Robotics 101 - Robotics full course for beginners - Kinematics and Modeling

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