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Update: Thanks to your post, IRstuff, I realized that my derivative indeed hadn't been including the time element; once I added code to divide the joint angle differences by my timestep of 0.02 seconds, now the resulting velocities are of the expected magnitude! Since the arm segment lengths are...

That makes sense, IRstuff. Thanks for your input; I will consider my options given your updates.

Thanks for your response, IRstuff. I should clarify that my data in the input file are actually in *degrees*. (In my OP, I stated that the data are in radians because I was converting from degrees to radians, and didn't think that mentioning the raw form of the data was relevant.) Given your...

Thanks for all of your input, everyone. In response to IRstuff: >> "but the plots look jagged, whereas the velocity plots calculated using joint angles in radians are smooth, as expected." >> This should not be the case. Since you are taking derivatives, the result should be choppy, since any...

I have a data set for a simulated arm moving in a single plane (as if sliding along a tabletop). The arm has 2 joints (shoulder and elbow). My data set includes the shoulder and elbow joint angles (in radians) at each timestep. My goal is to calculate the end-effector velocity of the...