VELOcTy opegoier

Jo ink
Xi doint

To deteyu'ne the
velouty
’ To Rnd tho uneor elo oty
to bape.
’ (onpiler a P m tho hne i
point P
-

k'atic relahmnhp blw une

The
ond lhk o (hape) gien by

Poshon Veco
Pont p
home lis
iD,
the -
g ti)'b,
and -
P
¢od Sub
eyO
in3 (o,'s--vate
doi
tha ahi
banfmahn
Main
uty HS
R
velo
dt dt
d
linear
+ obtan
Th
 d/j.
dt (g)a tunchrn i
Since
Veing porh'ad
portod deyivatie

Jlt. -o
J

Conoder zh tor
cntuns Qi.
J
Subrhtte

torm
 Tine rate
chnge
dirplaemt ;
Sub eg

Extende to otbtantho ieos

th end effe t
yeloo't
link i - Ve ctor pum q the anguer
Vel
& the Complrnfrated
by jone'i
Joat'i’ Rotary -0
rotah
The specd
to inK (i-)

Anqutor elouty une di,if the ath y

Rotoy Prismabe tont
 pimenSion of da cobian Makin

Line Veleuty cownet

3xn od gacobionend ftata)

dhen Angutor Valouy lmgonet

Contes an velocaty vectol
6x1 -
Ye
3 Cmponns neoy
3 orfulor

Jacobian Computaton
Con hibuhog nnti to ineoy
The
velou' t
md <pecter
Angutor vly
 Conm bilned line oy f onqutar mohn
Liner eloe ty due to angulor
K-ais Mot'o

Mo

lo P

Cross procuct
the E EE velouty,Semal nbot
Pind
velo
hgm 'n' DoF

Po,
70
Xn

fo, i-i Jn
 ; -abot Aaig

Tranoferm to the bape framne

<Pre Mutpy

T,
4

x é t °2, x(ofn-oP),
Ozo -+ Ozn-ix (Ofn- n-)e,
 Ozr(,) )
Oza(n-°

J Liner
Conportoabianen
J=
J
Anqudor clouty
Gacsbian
 l'= |

3pD P
bifmasc tod

V
(kil
+0z,t

020
gner eqn
Cergonunt Ja cobian:
 J
ineo

N
Angadr

) 2DP Ratbt ) RR

due

Assigrm feme Ltome]

yo
C33
Dtt table
dn t1 Ontl
|antl

Contl antnl

C -Sz C
lTS
2 S

-SIL Fawel
S+S Iemahr

JuJa
Ozo x°Pn
 (e-)x
'o

o+()(t(/s)
- ?
is-Is
 Example 1:
Dne degee fe dom otadot
Analysn moton.
MaSS
(polnt Mass

Torqe dchs,

Corpide

Poscken p-(Lcose, L
se)
Diftoontate

V= (-LSe, LCe)e -spun

Kinecte K=my
Potenhad energ map X

Lsht
P
L =K -?

1orque
dtle,
me

dt
-mgcope.
Mohen
me+
obot
manipula y.
Mu
rto 9od.
the lerpth small
the
feedon a elemetal
at yn
, poe
s
whch
g
depee 4L'
elenent
smalu
Q' 'o'
One pointpoint
M=f.L a
- foe
aConprlr
Conaider )uh
Then
the
At
Example
2'
 dP K=
Totad

P 2

pointg)
 The
Tro

e)
Condi
sln (nat
deyree
pol's 9aye
B
g
fedom
KtkK=
(poltmas)