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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.
Robotics engineers use forward kinematics to calculate the positions and orientations of a robot's end-effector, given specific joint angles, and inverse kinematics to determine the joint movements necessary for a desired end-effector position. These calculations allow for precise control over tasks such as object manipulation or locomotion.
Download as PDF; Printable version; ... Pages in category "Robot kinematics" ... Parallel robot; Passive dynamics; Pfaffian constraint; S.
The coordinate transformations along a serial robot consisting of n links form the kinematics equations of the robot: [] = [] [] [] [] … [] [] [] where [T ] is the transformation that characterizes the location and orientation of the end-link.
Giovanni Legnani, Federico Casalo, Paolo Righettini and Bruno Zappa A homogeneous matrix approach to 3D kinematics and dynamics—II. Applications to chains of rigid bodies and serial manipulators Mechanism and Machine Theory, Volume 31, Issue 5, July 1996, Pages 589–605; A. Bottema and B. Roth. Theoretical Kinematics. Dover Books on Engineering.
Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. [2] [3] More recently, many practical heuristic algorithms based on stochastic optimization and iterative sampling were developed, by a wide range of authors, to address the kinodynamic planning problem. These ...
The study of motion can be divided into kinematics and dynamics. [144] Direct kinematics or forward kinematics refers to the calculation of end effector position, orientation, velocity, and acceleration when the corresponding joint values are known.
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 ...