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I would like to know if I can find the end effector position according to joint velocities. I have found joint velocities of a manipulator. I need to check if it is correct. So I need to know that how can I combine joints veloties and the end effector postion. Thank you in advance.

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No, you cannot determine the end effector position by using only joint velocities. If you use the Jacobian matrix, you can determine the velocity vector of the end effector given a set of joint velocities. If you have a finite time over which the joint velocities were measured, you can know how much the end effector has moved in that short time. But unless you have a starting position, the joint velocities are insufficient for determining end effector position.

However, if you do know the forward kinematics as well as the joint velocities, you can use $\dot{x} = \mathrm{J} \dot{\theta}$ to determine incremental end effector motion.

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  • $\begingroup$ Thank you for reply. I know the starting position of the end effector via forward kinematic and I also know the interval time. How can I compute the end effector movements in this finite time ? $\endgroup$
    – Oğuz KAHRAMAN
    Apr 26, 2021 at 11:02
  • $\begingroup$ Oğuz, please modify the original question with this additional information. Without it, both of @SteveO's questions are correct, yet conflicting. $\endgroup$
    – Ben ♦
    Apr 26, 2021 at 13:49
  • $\begingroup$ Thanks @Ben. I tried to clear it up with a single answer. $\endgroup$
    – SteveO
    Apr 26, 2021 at 14:01

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