"Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move."
The study of motion and its causes, including the position, velocity, and acceleration of robots.
Introduction to Kinematics: This includes basic concepts of kinematics such as position, velocity and acceleration.
Frames of Reference: This includes understanding the different frames of reference, including the world frame and the robot frame.
Forward Kinematics: This involves understanding how to compute the position and orientation of the end effector of the robot using the joint angles.
Inverse Kinematics: This involves computing the joint angles required to position the end effector in a desired location.
Jacobian Matrices: This involves learning about the Jacobian matrix, which relates the end effector velocity to the joint velocities.
Linear and Angular Velocity: This involves understanding the difference between linear and angular velocity and how they relate to motion in the robot.
Differential Kinematics: This involves understanding the relationship between the velocity of the robot and the velocity of the end effector.
Singularities: This involves understanding the concept of singularities, where the robot loses the ability to move in a particular direction.
Trajectory Planning: This includes learning how to plan the motion for the robot, including how to calculate the time and path required to reach a specific position or orientation.
Motion Control: This involves controlling the motion of the robot, including how to adjust the speed of the robot.
Path Planning: This involves learning how to plan the path that the robot will take to reach a specific location or orientation.
Workspace Analysis: This involves analyzing the area where the robot can work in and the obstacles that may be present.
Kinematic Control: This involves controlling the motion of the robot using kinematic equations.
Sensors: Understanding how sensors can be used for kinematics, such as encoders, accelerometers or gyroscopes.
Kinematics in Practice: Applying your knowledge of kinematics in real-life applications, such as designing and programming a robotic arm, or building a robot navigation system.
Forward Kinematics: It is the process of calculating the position and orientation of the end effector based on the input joint angles.
Inverse Kinematics: It is the process of determining the joint angles required to reach a desired position and orientation of the end effector.
Differential Kinematics: It is the study of the relationship between the velocities and accelerations of the robot's joints and the velocity and acceleration of the end effector.
Jacobian Kinematics: It is the method for determining the relationship between the velocities of the robot's joints and the velocity of the end effector.
Statics Kinematics: It is the study of the forces and torques acting on a stationary robot.
Dynamics Kinematics: It is the study of the motion of a robot that is affected by external forces and torques.
Workspace Kinematics: It is the study of the region in space that the robot can reach with its end effector.
Trajectory Planning Kinematics: It is the process of determining the movement of the robot's end effector and joints over time to reach a desired position and orientation.
Singularities Kinematics: It is the study of the robot configurations where one or more joints cannot move causing the robot to lose its ability to perform its task.
Redundancy Kinematics: It is the study of robots with more degrees of freedom than necessary for performing a particular task.
"Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move."
"Kinematics, as a field of study, is often referred to as the 'geometry of motion' and is occasionally seen as a branch of mathematics."
"A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity, and/or acceleration of points within the system."
"Then, using arguments from geometry, the position, velocity, and acceleration of any unknown parts of the system can be determined."
"The study of how forces act on bodies falls within kinetics, not kinematics."
"Kinematics is used in astrophysics to describe the motion of celestial bodies and collections of such bodies."
"In mechanical engineering, robotics, and biomechanics, kinematics is used to describe the motion of systems composed of joined parts (multi-link systems) such as an engine, a robotic arm or the human skeleton."
"Geometric transformations, also called rigid transformations, are used to describe the movement of components in a mechanical system, simplifying the derivation of the equations of motion."
"They are also central to dynamic analysis."
"Kinematic analysis is the process of measuring the kinematic quantities used to describe motion."
"In engineering, for instance, kinematic analysis may be used to find the range of movement for a given mechanism."
"Working in reverse, using kinematic synthesis to design a mechanism for a desired range of motion."
"Kinematics applies algebraic geometry to the study of the mechanical advantage of a mechanical system or mechanism."
"The study of how forces act on bodies falls within kinetics, not kinematics."
"Geometric transformations, also called rigid transformations, are used to describe the movement of components in a mechanical system, simplifying the derivation of the equations of motion."
"Kinematic analysis may be used to find the range of movement for a given mechanism."
"Using kinematic synthesis to design a mechanism for a desired range of motion."
"Kinematics is used in astrophysics to describe the motion of celestial bodies and collections of such bodies."
"In mechanical engineering, robotics, and biomechanics, kinematics is used to describe the motion of systems composed of joined parts (multi-link systems) such as an engine, a robotic arm or the human skeleton."