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