# Tag Info

Accepted

### Understanding the Robot Jacobian

Let's start from the forward kinematics equation $$x = f(q),$$ where $x \in \mathbf{R}^6$ is the end-effector position, $q$ is the joint angles, and $f$ is a (usually highly nonlinear) forward ...
• 1,789
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### Forward kinematic and inverse kinematic... When to use what?

Let me give you a mathematician's perspective on the difference between the two kinds problems. Forward kinematics asks the question: given a certain input (i.e. control command), what will be the ...
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### Forward kinematic and inverse kinematic... When to use what?

Forward kinematics uses joint angles (with known link lengths) to compute the tool position and orientation. Inverse kinematics uses tool position and orientation, to compute joint angles. Note: if ...
• 4,326
Accepted

• 211

### Jacobian-based trajectory following

Ugo's answer refers to "Sciavicco-Siciliano" which is a good book I'll quote as well. Chapter 3.6 introduces the so-called analytical Jacobian which is not the same as the so called geometrical ...
• 41
Accepted

### How to get Max Torque on Robot arm 's Joints (RRR)

Torque is pretty easy to calculate for a single static arm configuration. Torque is just the length of the moment arm * the perpendicular force. And it is easy to decompose the problem into X and Y ...
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### Jacobian of a Robot

Yes, 6x9. Since $$\dot{x} = J \dot{\theta}$$ each column of the Jacobian represents the differential change in one of the six $x$ coordinates with respect to each of the joints.
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### The Jacobian resulted from Screw method is different from analytical one (Example Inside)

You're computing the spatial Jacobian, which relates joint velocities to spatial velocities at the origin. You instead want to compute the body Jacobian, which relates joint velocities to end-effector ...

### How to use Jacobian Method for path following?

You can use some Trajectory Generators to create intermediate points between the points calculated by RRT Algorithm. You can use Moden Robotics Library by Neuroscience and Robotics Lab at Northwestern ...
• 306
Accepted

### How to get pure end-effector translation through Jacobian?

You don't need the positional IK to solve this problem. All that is required is, that your Jacobian is invertible, i.e. keep away from sinuglar joint configurations. Consider, how the end effector's ...