Velocity Kinematics & Manipulability Ellipsoids | Robotics 101

This video covers manipulability ellipsoids which is a measure of how fast (and easily) a robot's end-effector can move in a certain direction. We also explore how this ellipsoid changes with changes in both the configuration of the robot and the power of the joint torques.

In this video, we also come across a very interesting case when the manipulability ellipsoid shrinks down to a single line. That is the topic for one of our future videos (Hint: It's a singularity)

00:00 - Direction of the end-effector velocity
03:39 - How velocity changes with different joint angular velocities
04:56 - Velocity (or manipulability) Ellipsoid definition
06:51 - What does ellipsoid depend on?
09:15 - What's next?


🌟 If you haven't the first part, I would highly encourage you to check that out first:    • Velocity Kinematics & Jacobian Matrix | Ro...  

⏩ Watch the next video where we do a few examples of how to find the Jacobian Matrix of a robot:    • How to find Jacobian Matrix? | Solved Exam...  

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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
   • Robotics 101  

Robotics 101 - Robotics full course for beginners - Kinematics and Modeling

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