Jacobiano Analítico y Singularidades | Robot Planar de 2 GDL | Cinemática Diferencial

🎓 COURSES ON MY CHANNEL: 🔧 Robotics: https://tinyurl.com/RobotiCurso 📈 Kalman Filter: https://tinyurl.com/KalmanYT 📉 Nonlinear Control: https://tinyurl.com/ConNoLineal 🔄 Dynamic Systems: https://tinyurl.com/SisteDina 🧩 Systems Modeling: https://tinyurl.com/ModeladoYT 📊 State Space: https://tinyurl.com/EspacioEstado 💾 COMPLETE COURSES FOR DOWNLOAD ON PATREON: ⚙️ PID Control (Arduino): https://tinyurl.com/PIDArduinoController 🧠 Kalman Filter Course (complete): https://tinyurl.com/KalmanF ------------------------------------------------------------------------------------------------------------ Hello everyone, in this In this video, the first-order kinematics of a two-degree-of-freedom planar robot are calculated. The calculation involves obtaining the analytical Jacobian, and from it, we can study the robot's singularities. Timeline: 0:00 Intro 0:20 Recap: Direct Kinematics 1:43: Differential Kinematics and Analytical Jacobian (Theory) 4:14: Example 7:17: Singular Configurations 8:33: Geometric Interpretation of Singular Configurations 9:58: Outro