In order to move the manipulator at constant velocity, or at any prescribed velocity, we must know the relationship between the velocity of the tool and the joint velocities. To calculate the velocity, the Jacobian matrix should be constructed as follows
where
if i is a revolute and
if i is a prismatic,
where 
is the first three elements in 
column of 
and
is the first three elements in the 
column of . Then forward
velocity will be
The inverse velocity problem becomes one of solving the system of linear equations. The Inverse Velocity Kinematics will then be
