This document discusses kinematics and velocity concepts for 2D planar robots. It covers computing the derivative to determine velocity, using Matlab code to calculate the Jacobin matrix, inverting the Jacobin, issues with singularities, forward and inverse kinematics for a 3 link planar robot arm, and calculating the inverse Jacobin.

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