Manipulator Kinematics Velocity Analysis(cont'd For 6 joint manipulator, J is a 66 square matrix 6=J-t (4.57) Solve equations using Gauss-elimination (Lu decomposition)algorithm J=LU 0 11 0 00 12 Ly= t U0 Compute y Compute (Forward substitution) (Backward substitution)Manipulator Kinematics • Velocity Analysis (cont'd) For 6 joint manipulator, J is a 66 square matrix Solve equations using Gauss-elimination (LU decomposition) algorithm Compute y (Forward substitution) Compute (Backward substitution)