User:Guiltyspark/Robot Kinematics

From Wikipedia, the free encyclopedia

Robot kinematics is the study of the motion of robots (kinematics is the study of motion). One of the most active areas within robot kinematics is the screw theory.

Robot kinematics deals with aspects of

• redundancy,
• collision avoidance and
• singularity avoidance

while dealing with the kinematics used in the robots we deal each parts of the robot by assigning a frame of reference to it and hence a robot with many parts may have many individual frames assigned to each movable parts. For simplicity we deal with the single manipulator arm of the robot. Each frames are named systematically with numbers, for example the immovable base part of the manipulator is numbered 0, and the first link joined to the base is numbered 1, and the next link 2 and similarly till n for the last nth link.

Robot kinematics are mainly of the following 2 types:

1. Forward Kinematics 2. Inverse Kinematics

1. Forward Kinematics:

                     Here, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot.

2. Inverse Kinematics:

                     Here, the length of each link and position of the point in work volume is given and we have to calculate the angle of each joint.

Work Volume: The volume of space within which the robot (usually, robotic arm) can move about. So, a robot cannot reach any space outside the work volume.