Manipulator kinematics Velocity Analysis(cont'd Transformation of jacobian matrix In general, Jacobian can be defined wrt different points. For decoupled manipulators Wrist Centre to= Point p at ee tp Recall twist transformation P-c 1 Two point a 10 and b on ee JB=UJA A-B 1 Property det(JB)=det(JA)Manipulator Kinematics • Velocity Analysis (cont'd) Transformation of Jacobian matrix In general, Jacobian can be defined wrt different points. For decoupled manipulators: Recall twist transformation Property: Wrist Centre Point P at EE Two point A and B on EE