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| Learn More | Position Kinematics |
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| The kinematic analysis of robots involves the determination of the transformation (or mapping) that relates the joint space to the end-effector space. |
In kinematics, we consider two issues:
- Forward analysis: given the physical dimensions of the robot (link lengths, etc.) and the joint displacements, velocities and accelerations, what is the position, orientation, velocity and acceleration of the end-effector?
- Inverse analysis: given the dimensions of the robot and the position and orientation of the end-effector, along with its velocity and acceleration, what are the corresponding joint displacements, velocity and accelerations?
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For serial robots, the forward analysis problem is usually easy and straightforward. Unfortunately, the inverse analysis problem is of much more interest. For example, in industrial applications, the end-effector must follow some desired path; then, we need to find the joint angles for each position in the path.
Robots with more than 6 DOF are called redundant, the inverse kinematics problem has then a infinite number of solutions. The extra degrees of freedom can then be used for other purposes, for example for fault tolerance, obstacle avoidance, or to optimize some performance criteria.
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