Ideas in this flowchart

• Understanding robot hand movement
• Forward kinematics determines hand position
• Inverse kinematics reaches a goal
• Need to know hand movement in space
• Jacobian matrix is introduced
• Jacobian describes joint speeds to hand speed
• Matrix maps joint angle changes to hand velocity
• Linear and angular velocity of the hand
• Angular velocity is rate of angle change
• Example: Elbow rotating at one radian per second
• Forward kinematics vs Inverse kinematics
• Determine hand position or reach goal?
• Understanding Jacobian's role
• Mapping changes in joint angles
• Hand's linear and angular velocity