velocity propagation
A recursive computational method that calculates the velocity of each link sequentially from the robot’s base outward to the end-effector. More efficient than solving the entire kinematic chain simultaneously.
Velocity propagation is a recursive computational method that calculates the velocity of each link sequentially, starting from the robot's base and moving outward toward the end-effector. Rather than solving the entire kinematic chain simultaneously (which requires complex matrix inversions), velocity propagation efficiently computes velocities link-by-link by building on previously calculated values.
Simple idea: Start with the base (stationary), then cascade velocity calculations through each joint sequentially, like a wave propagating down the robot arm.
Key Takeaway
Velocity propagation is the "efficient kinematics cascade"—a recursive algorithm that sequentially calculates velocities link-by-link from the robot base toward the end-effector with linear O(n) computational complexity. By building each link's velocity on the previously calculated values (inheriting both rotational and translational components), velocity propagation avoids expensive simultaneous matrix solutions while maintaining numerical accuracy. It's the foundation of real-time robot control, enabling fast Jacobian calculations, inverse kinematics, and continuous trajectory tracking on modern robotic systems.
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