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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.
Paden–Kahan subproblems are a set of solved geometric problems which occur frequently in inverse kinematics of common robotic manipulators. [1] Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots. [2] Beyond the three classical subproblems several others have been ...
[4] [5] [6] A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system. Then, using arguments from geometry, the position, velocity and acceleration of any unknown parts of the system can be determined.
The branch of physics describing the motion of objects without reference to their cause is called kinematics, while the branch studying forces and their effect on motion is called dynamics. If an object is not in motion relative to a given frame of reference, it is said to be at rest , motionless , immobile , stationary , or to have a constant ...
The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters values. Remarkably, while the forward kinematics of a serial chain is a direct calculation of a single matrix equation, the forward kinematics of a parallel chain requires the simultaneous solution of multiple matrix ...
Classical mechanics is the branch of physics used to describe the motion of macroscopic objects. [1] It is the most familiar of the theories of physics. The concepts it covers, such as mass, acceleration, and force, are commonly used and known. [2]
The fact that the no-three-in-line problem has a solution with linearly many points can be translated into graph drawing terms as meaning that every graph, even a complete graph, can be drawn without unwanted vertex-edge incidences using a grid whose area is quadratic in the number of vertices, and that for complete graphs no such drawing with ...
An analytic solution to an inverse kinematics problem is a closed-form expression that takes the end-effector pose as input and gives joint positions as output, = (). Analytical inverse kinematics solvers can be significantly faster than numerical solvers and provide more than one solution, but only a finite number of solutions, for a given end ...