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Introduction[edit | edit source]

Content from Kinematics and Robot kinematics

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.[1][2][3] Kinematics is the science and math of describing the configuration, position, velocity, and acceleration of an object or a machine. We ignore the dynamics or changes in velocity/acceleration due to inertia of the machine. We also ignore internal or external forces that may be acting on the machine.

Robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems.[4][5] The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation.

Topics[edit | edit source]

  1. Coordinate Systems
  2. Reference Frames
  3. Angular Velocity
  4. Angular Acceleration
  5. Rotating Frames

References[edit | edit source]

  1. Thomas Wallace Wright (1896). Elements of Mechanics Including Kinematics, Kinetics and Statics. E and FN Spon. Chapter 1. https://books.google.com/books?id=-LwLAAAAYAAJ. 
  2. {{cite book|title=A Treatise on the Analytical Dynamics of Particles and Rigid Bodies|author=Edmund Taylor Whittaker|publisher=Cambridge University Press|year=1904|isbn=0-521-35883-3|at=Chapter 1|author-link=[[Wikipedia:E. T. Whittaker|E. T. Whittaker}}
  3. Joseph Stiles Beggs (1983). Kinematics. Taylor & Francis. p. 1. ISBN 0-89116-355-7. https://books.google.com/books?id=y6iJ1NIYSmgC. 
  4. Paul, Richard (1981). Robot manipulators: mathematics, programming, and control : the computer control of robot manipulators. MIT Press, Cambridge, Massachusetts. ISBN 978-0-262-16082-7. https://books.google.com/books?id=UzZ3LAYqvRkC. 
  5. J. M. McCarthy, 1990, Introduction to Theoretical Kinematics, MIT Press, Cambridge, Massachusetts.