Robotics 2
Jacobian Matrix
Quiz       Question 2:  The Jacobian matrix relates end-effector velocities to the joint velocities.  Which of these expresses the correct relationship between these three things?
Question 3:  True or false: the positions of the joints have no effect on the velocity of the end-effector.
Questions 4-7:  Shown here is a kinematic diagram.  Find the Jacobian matrix, then use the drop-down boxes to fill in the missing values.
Question 8:  Which of these equations does come from the Jacobian matrix in questions 4-7?
Question 10:  Based on the Jacobian matrix in Questions 4-7, which of these end-effector velocities is controlled by only one joint?
Question 1: I have a 4-degree-of-freedom manipulator.  What should be the dimensions of my Jacobian matrix?
Question 9:  Based on the Jacobian matrix in Questions 4-7, which of these end-effector velocities will always be zero, no matter what the values of the joint variables are?  6 rows and 4 columns
4 rows and 6 columns
2 rows and 4 columns
4 rows and 2 columns
Jacobian Matrix = End-effector velocities * Joint velocities
Jacobian Matrix = Joint velocities * End-effector velocities
Joint velocities = Jacobian Matrix * End-effector velocities
End-effector velocities = Jacobian Matrix * Joint velocities
True
False The linear velocity in the Y direction
The linear velocity in the X direction
The rotational velocity around Z
The rotational velocity around X
The linear velocity in the Y direction
The linear velocity in the X direction
The rotational velocity around Z
The rotational velocity around X