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Erschienen in:
2010 | OriginalPaper | Buchkapitel
2. Kinematics of Mechanisms
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Abstract
Robot kinematics is the study of the motion (kinematics) of robotic mechanisms. In a kinematic analysis, the position, velocity, and acceleration of all the links are calculated with respect to a fixed reference coordinate system, without considering the forces or moments. The relationship between motion and the associated forces and torques is studied in robot dynamics. Forward kinematics and inverse kinematics are the main components in robot kinematics.
Forward kinematics (also known as direct kinematics) is the computation of the position and orientation of a robot’s end effector as a function of its joint angles. Inverse kinematics is defined as: given the position and orientation of a robot’s end-effector, calculate all possible sets of joint motion that could be used to attain this given position and orientation.