ma'am, I'm not able to understand what is "i" and "n" in this video @10:50 Can you also elaborate a little on how you brought 2nd row elements in the video @10:44 Please help me ma'am.
This video is a continuation of earlier videos on the Jacobian Matrix, so It might help if you watch those first - notation like "i" and "n" are explained there. It's a little hard to figure out what videos go in what order in the youtube playlist, but if you go to my website robogrok.com and then click 'Go to Course' for 'Robotics 2', you will see the whole map laid out. You want to start at 'Jacobian Matrix' in the 'Kinematics' heading. I think that especially video 2 there will help you.
As long as you can represent the path with a parametric equation, it will work the same way. So, suppose you want to take a path that is an arc of a circle. You could use these equations: X=cx+r*cos((v/r)*t) and Y=cy+r*sin((v/r)*t) where v is the velocity of the end-effector, r is the radius of the circle, and cx and cy are the X and Y positions of the center of the circle. Now, take the time derivative to get Xdot and Ydot, and the rest of the calculations and coding is the same.
@@KennethFajardo-n9y do you mean that you have the joint velocities, and you want to find xdot, ydot, and zdot? Or do you mean that you have xdot, ydot, and zdot and want to find the speed (like meters/second) of the end-effector? (Or, something else?)
@@asodemann3 hello Ma'am, I am referring to the parametric equation for x (the one with a parameter t), not xdot. I would like to kindly ask how to determine the v from the parametric equation of x.
@@KennethFajardo-n9y hmmm... Well, if you have a function x(t), like x=3t^2+5t or something like that, then you can get the velocity in x by taking the derivative with respect to t. So, in my example equation, the velocity in the x direction would be 6t+5. And, we would often refer to that as xdot. That is, the dot means "derivative with respect to time"
@@KennethFajardo-n9y also, sometimes if we are looking for "v", we want to include all dimensions(x, y, and z). So, you might need to have equations for x(t), y(t), and z(t), then for each one, take the derivative with respect to time to get xdot, ydot, and zdot. Then, if you want to know the magnitude of v, you could do sqrt(xdot^2 + ydot^2 + zdot^2). Not sure if this covers what you are asking
@@asodemann3 Noted on this Maam, but how about if the equation are these (refer the image below) how can I get the v in those equations? Drive link for the image: drive.google.com/file/d/1TRdfrsTkSNENKwBYUzhSWmJ1qGvKzr5h/view?usp=sharing
ma'am, I'm not able to understand what is "i" and "n" in this video @10:50 Can you also elaborate a little on how you brought 2nd row elements in the video @10:44 Please help me ma'am.
This video is a continuation of earlier videos on the Jacobian Matrix, so It might help if you watch those first - notation like "i" and "n" are explained there. It's a little hard to figure out what videos go in what order in the youtube playlist, but if you go to my website robogrok.com and then click 'Go to Course' for 'Robotics 2', you will see the whole map laid out. You want to start at 'Jacobian Matrix' in the 'Kinematics' heading. I think that especially video 2 there will help you.
@@asodemann3 Thankyou alot ma'am, these videos are really helpful!
Hello Maam, I have a question what if I also need z points in order to go to the target position, what should my z parameter equation will look like?
could someone tell me how to calculate the anglular velocites wx, wy and wz in the jacobian? i have verything working but that
Do you still need help ?
Good video! What if the path we want to take is non linear?
As long as you can represent the path with a parametric equation, it will work the same way. So, suppose you want to take a path that is an arc of a circle. You could use these equations: X=cx+r*cos((v/r)*t) and
Y=cy+r*sin((v/r)*t) where v is the velocity of the end-effector, r is the radius of the circle, and cx and cy are the X and Y positions of the center of the circle. Now, take the time derivative to get Xdot and Ydot, and the rest of the calculations and coding is the same.
could you tell me where do you get the method to simplified the matrix? I feel confused.
i mean the references
Hello Maam, I have a question regarding the parametric equation could you tell me on how can I get the v (velocity of the end effector)?
@@KennethFajardo-n9y do you mean that you have the joint velocities, and you want to find xdot, ydot, and zdot? Or do you mean that you have xdot, ydot, and zdot and want to find the speed (like meters/second) of the end-effector? (Or, something else?)
@@asodemann3 hello Ma'am, I am referring to the parametric equation for x (the one with a parameter t), not xdot. I would like to kindly ask how to determine the v from the parametric equation of x.
@@KennethFajardo-n9y hmmm... Well, if you have a function x(t), like x=3t^2+5t or something like that, then you can get the velocity in x by taking the derivative with respect to t. So, in my example equation, the velocity in the x direction would be 6t+5. And, we would often refer to that as xdot. That is, the dot means "derivative with respect to time"
@@KennethFajardo-n9y also, sometimes if we are looking for "v", we want to include all dimensions(x, y, and z). So, you might need to have equations for x(t), y(t), and z(t), then for each one, take the derivative with respect to time to get xdot, ydot, and zdot. Then, if you want to know the magnitude of v, you could do sqrt(xdot^2 + ydot^2 + zdot^2).
Not sure if this covers what you are asking
@@asodemann3 Noted on this Maam, but how about if the equation are these (refer the image below) how can I get the v in those equations?
Drive link for the image:
drive.google.com/file/d/1TRdfrsTkSNENKwBYUzhSWmJ1qGvKzr5h/view?usp=sharing