Study of motion, position, and velocity of robots.
Cartesian, cylindrical, and spherical coordinate systems: These are the three primary coordinate reference systems used in robotics for specifying position and orientation.
Forward kinematics: This involves determining the position and orientation of the end-effector of a robotic manipulator given the joint angles and lengths.
Inverse kinematics: This is the opposite of forward kinematics and involves determining the required joint angles in order to achieve a desired end-effector position and orientation.
Differential kinematics: This deals with the relationship between the velocity and acceleration of the end-effector and those of the joint angles.
Jacobian matrix: This is a matrix that maps joint velocities to end-effector velocities and is used in differential kinematics to control the robot.
Homogeneous transformation matrices: These matrices are used to represent the pose of a robot's end-effector with respect to the base frame and to perform coordinate transformations.
Denavit-Hartenberg parameters: These parameters are used to describe the kinematic chains of a robot in a standardized manner.
Kinematic redundancy: This occurs when a robot has more degrees of freedom than required for a given task and can be used to optimize performance.
Singularities: These are configurations in which the Jacobian matrix becomes singular and the robot loses control over certain degrees of freedom.
Trajectory planning: This involves generating smooth and efficient paths for a robot to follow that satisfy certain constraints, such as avoiding collisions or minimizing joint velocities.
Control strategies: These are techniques used to control a robot's motion, such as proportional-integral-derivative (PID) control, adaptive control, and trajectory tracking control.
Kinematic simulation: This involves using software to simulate the kinematics of a robot and test different control strategies and trajectories.
Path planning: This is the process of planning a collision-free path for a robot to follow from its initial position to its goal position.
Workspace analysis: This involves analyzing the reachable space of a robot's end-effector and evaluating its dexterity and ability to perform certain tasks.
Sensor-based control: This is a control strategy that uses sensors to provide feedback on the environment and the robot's position, orientation, and velocity.
Forward Kinematics: It deals with the movement of the robot using the input given to the robot. This type of kinematics is commonly used in control systems where the robot movement is calculated based on the given coordinates.
Inverse Kinematics: It deals with finding the input required for the robot to perform a specific movement. This type of kinematics is commonly used in robotics systems where the robot has to be instructed to perform specific motion.
Differential Kinematics: It deals with the relationship between the velocity and position of the robot. It is commonly used in robotic systems where the velocity of the robot is critical, such as collision detection systems.
Parallel Kinematics: It involves the operation of a robot system in a parallel configuration. It is commonly used in robotics systems that require high precision and accuracy.
Serial Kinematics: It involves the operation of a robot system in a series configuration. It is commonly used in industrial robotics systems where high-speed operations are required.
Closed Kinematics: It is a system that involves a fixed number of joints and links. It is commonly used in robot systems that require accuracy, stability, and repeatability.
Open Kinematics: It is a system that involves an arbitrary number of joints and links. It is commonly used in robot systems that require flexibility and adaptability.
Articulated Kinematics: It is a system that involves tentacle-like motion, with several articulated segments. It is commonly used in robotics systems that require extra flexibility and adaptability.