Manipulability and Optimizing Joint Velocity, Intro2Robotics lecture 25
Lecture 25 finishes our exploration of inverse velocity on a serial robot manipulator. If there are more DOF than 6, the system is over determined, so we provide a method for finding the optimal joint velocities to achieve a desired end-effector velocity. We also explore how to generate motion in the null-space of the Jacobian, and compute the "manipulability", a measure of how close the robot is to a singularity.
The handout for this is located in the worksheets folder of https://uofh-my.sharepoint.com/:f:/g/...
Full Playlist "Intro to Robotics": • Intro2Robotics Lecture 1a: course overview...