Review Velocity, Acceleration and Static Analysis Mapping between Cartesian and joint space Linear transformation J6=t J-W=T Joint rate+ Cartesian rate EE Wrench Joint force/torque Rate analysis Static analysis Jacobian matrix- General form for n-R manipulator e e xrl e2 xr2 en xrn Special case: 6R Decoupled Manipulator(PUMA) 311 o JReview • Velocity, Acceleration and Static Analysis Mapping between Cartesian and joint space (Linear transformation) Jacobian Matrix – General form for n-R manipulator Special case: 6R Decoupled Manipulator (PUMA) Joint Rate Cartesian rate EE Wrench Joint force/torque Rate analysis Static analysis