Robot Jacobian
The time derivative of the kinematics equations yields the Jacobian of the robot, which relates the joint rates to the linear and angular velocity of the end-effector. The principle of virtual work shows that the Jacobian also provides a relationship between joint torques and the resultant force and torque applied by the end-effector. Singular configurations of the robot are identified by studying its Jacobian.
Read more about this topic: Robot Kinematics
Famous quotes containing the word robot:
“The person who designed a robot that could act and think as well as your four-year-old would deserve a Nobel Prize. But there is no public recognition for bringing up several truly human beings.”
—C. John Sommerville (20th century)