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1. Velocity kinematics
By: Mahmoud Hussein

3. Velocity of 2D-planar robot
 Compute the derivative (rule chain)

4. Velocity of 2D-planar robot

5. Velocity of 2D-planar robot
 Matlab code to get Jacobin matrix
 mdl_planar2_sym
 Syms q1 q2;
 T=p2.fkine(q1,q2);
 P=p2(1:2,4);
 J = jacobian(p, [q1 q2])

7. Invert Jacobin

8. Singularity problem

9. 3 link planar robot arm

10. Forward kinematics

11. Translation part

12. Rotation part

13. Translation and rotation part

14. Inverse jacobin

15. Inverse Jacobin