Kinematics is the "geometry of motion". It describes how a robot moves—its position, velocity, and acceleration—without considering the physical forces or masses involved. In an industrial setting, this is broken down into two main puzzles:
Kinematics of Industrial Robots: Sanz, Wilmer / W Eduardo / E Elements of Kinematics and Dynamics of Industri...
While kinematics plans the path, determines the "muscle" needed to follow it. It studies the relationship between motion and the forces (torques) that cause it. Kinematics is the "geometry of motion"
: This is the challenge. If you know where you want the hand to be (e.g., "pick up that bolt at coordinate X, Y, Z"), the robot must calculate the specific joint angles required to get there. This often has multiple solutions—a robot can reach a point with its "elbow" up or down. The Science of Force: Dynamics It studies the relationship between motion and the