Velocity kinematics and statics

Velocity kinematics and statics

1. Analitic jacobian

   • Partial differentation
     • The matrix derivates of a vector valued function
       • Position
       • Orientation of end efector
   • Relationship
     • Joint velocities
     • The end effector
   • Relation
     • Forces and the end effector
     • Forces and torques at the joints

2. Gemotric jacobian

   • Relationship
     • Joint velocities
     • The end effector
       • linear and angular velocity

3. The jacobian matrix

   • Partial derivates of the first order