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The kinematics equations for the series chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement allowed at each joint and separate rigid transformation [X] to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base ...
A fundamental tool in robot kinematics is the kinematics equations of the kinematic chains that form the robot. These non-linear equations are used to map the joint parameters to the configuration of the robot system. Kinematics equations are also used in biomechanics of the skeleton and computer animation of articulated characters. Forward ...
The kinematics equations for a parallel chain, or parallel robot, formed by an end-effector supported by multiple serial chains are obtained from the kinematics equations of each of the supporting serial chains. Suppose that m serial chains support the end-effector, then the transformation from the base to the end-effector is defined by m ...
A three-wheeled differentially steered robot. A differential wheeled robot is a mobile robot whose movement is based on two separately driven wheels placed on either side of the robot body. It can thus change its direction by varying the relative rate of rotation of its wheels and hence does not require an additional steering motion.
The term kinematic is the English version of A.M. Ampère's cinématique, [9] which he constructed from the Greek κίνημα kinema ("movement, motion"), itself derived from κινεῖν kinein ("to move"). [10] [11] Kinematic and cinématique are related to the French word cinéma, but neither are directly derived from it.
Inverse kinematics is an example of the kinematic analysis of a constrained system of rigid bodies, or kinematic chain. The kinematic equations of a robot can be used to define the loop equations of a complex articulated system. These loop equations are non-linear constraints on the configuration parameters of the system.
For each joint of the kinematic chain, an origin point q and an axis of action are selected for the zero configuration, using the coordinate frame of the base. In the case of a prismatic joint, the axis of action v is the vector along which the joint extends; in the case of a revolute joint, the axis of action ω the vector normal to the rotation.
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage.