Hello all! I have a question regarding how to get the linear and angular speed for this robot for example (RRP).(adsbygoogle = window.adsbygoogle || []).push({});

http://img205.imageshack.us/img205/774/rrp.png [Broken]

I am given x and y or the hand, as well as theta (angle)

If I were asked to calculate the linear.

Do I derive x and y to q1, q2 and q3, and fill out the Jacobian matrix to get x' and y'?

Or do I use this formula, where V is speed, R is the rotation matrix, P is the position, etc.. The rotations are on the Z axis.

http://img842.imageshack.us/img842/4438/equationl.png [Broken]

**Physics Forums | Science Articles, Homework Help, Discussion**

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

# Robot cinematic model. Which method to get linear and angular speed?

**Physics Forums | Science Articles, Homework Help, Discussion**