Related Experiment Video
Updated: Jan 28, 2026

Mixed Reality for Education MRE Implementation and Results in Online Classes for Engineering
Published on: June 23, 2023
A new implementation for online calculation of manipulator Jacobian
Pramod Chembrammel1, Thenkurussi Kesavadas1,2
1Health Care Engineering Systems Center, University of Illinois at Urbana-Champaign, Urbana, Illinois, United States of America.
Abstract:
This paper describes a new implementation for calculating Jacobian and its time derivative for robot manipulators in real-time. The estimation of Jacobian is the key in the real-time implementation of kinematics and dynamics of complex planar or spatial robots with fixed as well as floating axes in which the Jacobian form changes with the structure. The proposed method is suitable for such implementations. The new method is based on matrix differential calculus. Unlike the conventional methods, which are based on screw theory, the Jacobian calculation in the proposed approach has been reduced to the inner product of two matrices. Use of the new method to derive linear and angular velocity parts of Jacobian and its time derivative is described in detail. We have demonstrated the method using a two-DOF spatial robot and a hyper-redundant spatial robot.
Related Concept Videos
Nursing Implementation
The five steps to implementing effective nursing care include reassessing the patient, reviewing and revising the existing nursing care plan, organizing the resources and care delivery, anticipating and preventing complications, and implementing nursing interventions.
Calculating the Equilibrium Constant
For example, gaseous nitrogen dioxide forms dinitrogen tetroxide according to this equation:
Calculating Standard Free Energy Changes
Calculating pH Changes in a Buffer Solution
Numerical Calculations
The solution to a problem is obtained using different methods. While manually solving algebraic symbols is one of the most common methods, the graphical method is often preferred. Computers...
Net Torque Calculations

