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1 year ago in Robotics By Prajwal Sharma

How do you calculate the angular velocity of a two-link robot arm’s end-effector?

How do you determine the end-effector angular velocity for a two-link robot arm?

All Answers (1 Answers In All)

By Reema Answered 4 months ago

The end-effector's angular velocity is the sum of the individual joint angular velocities. For a planar arm, if the joint velocities are θ?? and θ??, the end-effector's angular velocity is simply ω = θ?? + θ??. In vector form for spatial motion, it is calculated using the rotational part of the manipulator's Jacobian matrix: ω = J_ω(θ) * θ?.

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