Abstract: In this paper, an innovative method to compute Jacobian matrices in robot kinematics using dual numbers is introduced. By representing each joint with a dual number—comprising a real scalar ...

I'll walk you through how to analyze the forward and inverse kinematics and Jacobian motion of a 3-DOF spherical robot (RRP - Revolute, Revolute, Prismatic). This is a systematic approach you can ...

Study the MATLAB code that is given to you in Lesson 7: Forward Kinematics of Robot Arms Using Screw Theory, and develop the Python version of this code that calculates the position and orientation of ...