Intro2Robotics Lecture 13b: Tool Angular and Linear Velocity

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In the last lecture we learned how to generate the end effector linear and angular velocity. What happens when you bolt a new end effector on the robot? How do you calculate the angular and linear velocity at the tip of the new end effector? We show how here.

Table of Contents:

07:32 - Tool linear velocity
10:32 - Milling
11:09 - Analytical Jacobian
15:45 - Singularities
  1. Aaron Becker
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Hi Aaron! love your videos! Can you make a video about robot dynamics? I am sorry if you already have one, I could not find it.

fatimaaltaee
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Thanks a lot for your explanations!
Just something that is not clear for me here. In the Analytical Jacobian precisely at 11:56, how the form of the angular velocity (omega) is obtained?

bishoyessam