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Engineering · L5 · Manipulator kinematics and dynamics pipeline

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From joint variables through the Jacobian to end-effector velocity/force, and the Lagrangian route to joint torques.

by @openstemUpdated Engineering
Joint variables qForward kinematics:T = T₁(q₁)···Tₙ(qₙ)End-effector poseInverse kinematics:solve for q given desired pose(may have 0, 1, or many solutions)Compute Jacobian J(q)det J ≈ 0?(singularity)Use damped least-squaresinverse for velocity controlẋ = J(q) q̇(joint → Cartesian velocity)τ = Jᵀ F(Cartesian force → joint torque)Lagrangian: L = T − VM(q)q̈ + C(q,q̇)q̇ + G(q) = τYesNo

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