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.


1 Answer 1


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.

  • $\begingroup$ 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 ? $\endgroup$ 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

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.