At 17:00 shouldn't 1P2 have some non-zero displacement, say [1,0,0] as the Joint 1 frame and Joint 2 frame would be separated by the distance of link 1? Seems like the transformation matrix 1T2 is wrong. Good video tho!
Very well described sir! Just had one doubt and that being how are we able to fill up the values for both velocity and angular velocity matrices i.e. 3x1 Matrices?
I think its determined by the theta in the velocity matrix. So theta 1 goes into first column, theta 2 goes into 2nd column and so on. This is just my guess though
By looking at the rotational part of the transformation matrices from one joint to another, if they have cos or sin terms its most likely a revolute joint. By looking at the position of the 0s, and 1s you can tell around what axis it rotates as well. If there is a term in the 4th column, then it undergoes some linear motion (can be along x,y or z), so is most likely a prismatic joint. However, from the final transformation matrix, none of this can be inferred as it is combination of all the previous transformation matrices. Check out this previous video ( ruclips.net/video/4Y1_y9DI_Hw/видео.html ), it might clear some doubts. Hope this answer helped you, all the best.
brother you are a life saver. You will forever have my support.
dear RUclips algorithm put this video on top when someone searches "jacobian"
i haven't understand how you open it up jacobian for the question B
Couldn't find this anywhere else. Thanks mahn👍🏼
Very useful for my exam bro....Keep it up!
At 17:00 shouldn't 1P2 have some non-zero displacement, say [1,0,0] as the Joint 1 frame and Joint 2 frame would be separated by the distance of link 1? Seems like the transformation matrix 1T2 is wrong.
Good video tho!
I was thinking the same thing.
Came to reply the same,I think this is a mistake in the video
love you hogya ... tysm
nice video thanks
I cant understand how a velocity (angular or linear) in a frame {i+1} with respect to frame {i+1} itself is not always equals to zero.
I got it teacher thanks a lot
🤠
Very well described sir!
Just had one doubt and that being how are we able to fill up the values for both velocity and angular velocity matrices i.e. 3x1 Matrices?
so in 21:19, you say when you open it up, you get this. what does that mean
THANK YOU SO MUCH
Excellent video, cheers!!
great explanation
please explain more about question d my bro.
you saved my a**
how did u opened the matrix @ 21:17 ?
I think its determined by the theta in the velocity matrix. So theta 1 goes into first column, theta 2 goes into 2nd column and so on. This is just my guess though
How you obtain dh table?
which book do you use to take the equations?
How can you know if it is a revolute joint or a prismatic joint you if you only have the transformation matrices and not the scheme of the robot
By looking at the rotational part of the transformation matrices from one joint to another, if they have cos or sin terms its most likely a revolute joint. By looking at the position of the 0s, and 1s you can tell around what axis it rotates as well. If there is a term in the 4th column, then it undergoes some linear motion (can be along x,y or z), so is most likely a prismatic joint. However, from the final transformation matrix, none of this can be inferred as it is combination of all the previous transformation matrices. Check out this previous video ( ruclips.net/video/4Y1_y9DI_Hw/видео.html ), it might clear some doubts. Hope this answer helped you, all the best.
ily
Grr8
bhagwaan ho tum