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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.
This page was last edited on 21 November 2024, at 15:05 (UTC).; Text is available under the Creative Commons Attribution-ShareAlike 4.0 License; additional terms may apply.
In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. [ 1 ] The kinematics equations of the robot are used in robotics , computer games , and animation .
The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. [7] Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. [8] [9] [10]
Often Level-1 and Level-2 calibration are sufficient for most practical needs. [1] [2] Parametric robot calibration is the process of determining the actual values of kinematic and dynamic parameters of an industrial robot (IR). Kinematic parameters describe the relative position and orientation of links and joints in the robot while the ...
Direct kinematics or forward kinematics refers to the calculation of end effector position, orientation, velocity, and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning.
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.