Differential Motion

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Differential Motion
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Introduction

• First was kinematics for finding joint
  displacements for location of an end-effector.
• Next comes velocity of end-effector moves and
  coordination of joint to create motion.
• Concerned with multiple-joint robots
• We derive the differential relationship between
  the joint displacements and the end-effecter
  location, and then solve for the individual joint
  motions.

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Differential Relationship
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Jacobian Matrix
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Jacobian Matrix - cont.
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Jacobian Matrix - cont.
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Jacobian Matrix - cont.
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Jacobian Matrix - cont.
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Exercise
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Note
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Jacobian Matrix - cont.
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Next

• Next time
• Inverse Kinematics of Differential Motion

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Now what?

• Go to LAB!!!