chapter five

5 Robot Motion Fundamentals 2: Kinematics

 

This chapter covers

  • Kinematics: Trajectories and the conversion between joint and task space.
  • Analytical and numerical approaches to kinematics.
  • Differentiation and integration as essential mathematical tools.

While the previous chapter on geometry laid the foundation for robot motion, nothing actually moved yet. In this chapter, we will set things into motion. Motion at its core is the change of geometry, especially poses, over time. We need a formalism that allows us to concisely describe change (over time). Calculus provides us with the required mathematical tools to model change in our robot software. Thus, you will become familiar with concepts from calculus, derivatives and integrals, throughout the chapter.

5.1 Kinematics introduction

5.2 Velocity and Acceleration

5.3 Derivatives

5.4 Integrals

5.5 Joint Space and Task Space

5.6 Forward Kinematics

5.7 Inverse Kinematics

5.8 Common Kinematics Representations

5.9 Analytical and Numerical Solutions

5.10 Exercises on Kinematics

5.11 Summary