Velocity Kinematics & Jacobian Matrix | Robotics 101

[@EngineeringSimplified]

✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment). 👉Don't forget to SUBSCRIBE to the channel for more such videos & courses: bit.ly/Engineering-Simplified

[@mehditavakoli2492]

Just writing the comment because this video is very nice . Thanks a lot .

[@AndreyGominiuk-qp7kk]

Just writing the comment because this video is too good not to let one

[@EngineeringSimplified]

Thank you for commenting and let me know :)

[@joelserrao1078]

Very easy to understand these complex topics thanks a lot!

[@EngineeringSimplified]

Thank you, Joel. You made my day :)

[@brianngohofficial]

You got a new subscriber thanks for the simple explanation. I'm looking forward to watching your other videos.

[@EngineeringSimplified]

Thank you for subscribing!

[@bibinkunjumon]

good work

[@EngineeringSimplified]

Thank you! I am glad that you found it useful.

[@soumyajitsensharma555]

bro one doubt.... is there any scope in robotics in india or outside india??(out of the topic question)

[@EngineeringSimplified]

There is a lot of scope for robotics. I am not from India so I don't know about India but in the United States, it is one of the emerging fields.

[@rishiktiwari]

There is hell lot demand for robotics as more automations come into existence. In India companies like Addverb are well into it.

[@AbdulRahman-jz3px]

If I want to apply it to a real Robot, how do I know the angular speed of the joint for example on a servo motor?

[@EngineeringSimplified]

That's a great question. Usually when you buy a motor for a robot, you will look for motors that have an encoder attached (search google 'motors with encoders'). The readings from the encoders can be read directly by your computer or microcontroller and it will automatically give you the angular speed. You can also figure out the angular displacement of each of the joints in the same manner.

[@EngineeringSimplified]

^ this is for finding out the angular speed in real time.

[@EngineeringSimplified]

If you want to figure out the limits on the angular speed, then you have a look at the motor datasheet which will tell you the maximum RPM at no load. This means that you haven't attached anything to the motor. As you attach links to the motor, the motor's maximum angular speed achievable will decrease as the torque output requirement increases. It will rotate the slowest just before it reaches the 'Stall torque' which is stated in the motor datasheet. That is the maximum torque the motor can deliver at minimum speed. Anything above or even at this maximum torque, the motor can no longer rotate and the angular speed becomes zero. Hope the explanation is easy to follow and makes sense. Here's is a motor datasheet if you want to have a look: content.arduino.cc/assets/Gear%20motor%20Datasheet.pdf

[@AbdulRahman-jz3px]

@@EngineeringSimplified Thank you for your explanation, So the value of the angular speed of the motor without load or the angular speed of the motor when it has been connected to the link and then entered into the jacobian equation to find out the speed of the end effector? because these two conditions will produce different speeds as you described earlier

[@AbdulRahman-jz3px]

@@EngineeringSimplified I actually want to try it but what I use is a servo motor, the datasheet explains operating speed= 0.14 s/60º (6 V), I don't know if this data is needed for the jacobian equation, here is the datasheet if you want to see it pdf1.alldatasheet.com/datasheet-pdf/view/1131873/ETC2/MG996R.html

[@Jaffar87]

nice lectures for layman

[@EngineeringSimplified]

That's the whole point :)

[@EngineeringSimplified]

That's the whole point :)