Jacobian and Velocity Kinematics of Robotic Manipulators in MATLAB 2021 | RST

This video explains how to get Jacobian using Robotics System Toolbox and use it to get end-effector velocities using Joint velocities.
#MATLAB2021
#Jacobian
#Robotics

[@vignesha1922]

Hi, How to do the same in editor space rather than Simulink for a 3 DOF RRR configuration, as I am not familiar with the Simulink workspace?

[@kemalvahapoglu4742]

great explanation but i guess i couldnt catch what is DOF2_Arm? How can i insert to my robots ? thanks

[@LearningOrbis]

DOF2_Arm is the robot that I made in the previous videos. Its a rigidbodytree variable that was created previously.

[@alrawdasuliman6649]

informative and well explanation thank you a lot, please Sir can you put these lectures in ordering.

[@LearningOrbis]

Kindly follow the sequence of the playlist 'Robotics'. All videos are in series in the playlist,.

[@bbbbb-e4o]

How do I make the angular velocity of each joint move to the value I want?

[@LearningOrbis]

You need to define trajectory using trajectory generator block. There you can specify the velocities you want to have.

[@ryidgilani8987]

Can you explain how I can view the jacobian Matrix from this?

[@LearningOrbis]

Jacobian is position dependent matrix, so if your robot is moving, the Jacobian will keep on changing. You can use display block of simulink to display a matrix, or you may store the jacobian matrix into a workspace variable by using 'to workspace' block. You may pause the simulation at particular instances to know the exact value of the jacobian at that particular position.

[@rizuwanaparween3479]

Its an excellent explanation and its really helpful. Could you pls share the matlab file for "wp" variable.

[@LearningOrbis]

I've given the WP matrix in the comments of the previous video in the playlist.

[@Phoenix25585]

thanks!

[@bernardmunyazikwiye4693]

I could not understand how you have created the rigid body tree of the robot

[@LearningOrbis]

Kindly view my previous video in which I have explained why we need rigid body tree and how to create it. kzbin.info/www/bejne/lWm8dJZppa93hqs

[@fatihkurt8745]

hello can you share simulink file ?

[@LearningOrbis]

COntact me at [e-mail]