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This reduces the parametric equations of motion of the particle to a Cartesian relationship of speed versus position. This relation is useful when time is unknown. We also know that Δ r = ∫ v d t {\textstyle \Delta r=\int v\,{\text{d}}t} or Δ r {\displaystyle \Delta r} is the area under a velocity–time graph.
There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
The transport theorem (or transport equation, rate of change transport theorem or basic kinematic equation or Bour's formula, named after: Edmond Bour) is a vector equation that relates the time derivative of a Euclidean vector as evaluated in a non-rotating coordinate system to its time derivative in a rotating reference frame.
A space curve; the vectors T, N, B; and the osculating plane spanned by T and N. In differential geometry, the Frenet–Serret formulas describe the kinematic properties of a particle moving along a differentiable curve in three-dimensional Euclidean space, or the geometric properties of the curve itself irrespective of any motion.
From this derivative equation, in the one-dimensional case it can be seen that the area under a velocity vs. time (v vs. t graph) is the displacement, s. In calculus terms, the integral of the velocity function v(t) is the displacement function s(t). In the figure, this corresponds to the yellow area under the curve.
Since the velocity of the object is the derivative of the position graph, the area under the line in the velocity vs. time graph is the displacement of the object. (Velocity is on the y-axis and time on the x-axis. Multiplying the velocity by the time, the time cancels out, and only displacement remains.)
These relationships can be demonstrated graphically. The gradient of a line on a displacement time graph represents the velocity. The gradient of the velocity time graph gives the acceleration while the area under the velocity time graph gives the displacement. The area under a graph of acceleration versus time is equal to the change in velocity.
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...