Kinematics equations

This article is about the equations used in robotics. For the equations used for describing motion in classical mechanics, see Kinematics.

Kinematics equations are the constraint equations of a mechanical system such as a robot manipulator that define how input movement at one or more joints specifies the configuration of the device, in order to achieve a task position or end-effector location.[1][2] Kinematics equations are used to analyze and design articulated systems ranging from four-bar linkages to serial and parallel robots.

Kinematics equations are constraint equations that characterize the geometric configuration of an articulated mechanical system. Therefore, these equations assume the links are rigid and the joints provide pure rotation or translation. Constraint equations of this type are known as holonomic constraints in the study of the dynamics of multi-body systems.

  1. ^ 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.
  2. ^ J. M. McCarthy, 1990, Introduction to Theoretical Kinematics, MIT Press, Cambridge, Massachusetts.