Manipulator Differential Kinematics: Part 2: Acceleration and Advanced Applications

Kinematics, in the context of robotic manipulators, is concerned with the relationship between the position of the robot’s joints and the pose of its end effector as well as the relationships between various derivatives of those quantities. In this second part of our two-part tutorial, we focus on second-order differential kinematics and subsequent applications. These applications demonstrate advanced techniques that are highly relevant to topics including sensor-based control, constrained control, and motion planning.