Editing Robot kinematics (section)

===Velocity kinematics===

The robot Jacobian results in a set of linear equations that relate the joint rates to the six-vector formed from the angular and linear velocity of the end-effector, known as a [[Twist (screw theory)|twist]].  Specifying the joint rates yields the end-effector twist directly.

The '''inverse velocity''' problem seeks the joint rates that provide a specified end-effector twist.  This is solved by inverting the [[Jacobian matrix]]. It can happen that the robot is in a configuration where the Jacobian does not have an inverse.  These are termed singular configurations of the robot.