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Robotics-Arm Kinematics

1. 1 Introduction

Kinematics is the branch of mechanics that studies the motion of a body, without considering it’s mass or forces.

A robot arm, a serial-link manipulator, a chain of rigid links and joints. Each joint has one degree of freedom. 2 types:

  • Translational—–prismatic joint
  • Rotational—–revolute joint

2. 2 Forward Kinematics

3. 3 Inverse Kinematics

4. 4 Trajectory

Requirement: move the end-effector smoothly from pose A to pose B.

Approach:

  • joint-space
  • Cartesian motion

4.1. 4.1 joint-space

4.2. 4.2 Cartesian motion

5. 5 Advanced Application