Manipulator Jacobian of Robot (Intro2Robotics Lecture 12a)

The Jacobian is a matrix that relates the end-effector's linear and rotational velocity with the motor speeds. Understanding the Jacobian is key for smooth motion of robots, speed control of the robot's hand, and understanding robot singularities. This video describes (0) the relationship between motor speeds and end-effector linear and angular velocity, (1) how to compute the velocity of a point attached to a rotating frame, (2) how how to compute the velocity of a point attached to a frame that is rotating and translating. The worksheet for this lecture is the last 4 seconds of the video, and in the worksheets folder of https://uofh-my.sharepoint.com/:f:/g/... (Part 1 of 2) Part 1 is at:    • Manipulator Jacobian of Robot (Intro2Robot...   Part 2 is at:    • Manipulator Jacobian of Robot (Intro2Robot...   Table of Contents: 06:58 - Velocity, Point attached moving frame 07:17 - General motion