10. Forward and Inverse Kinematics
Kinematics is pivotal in robotics for understanding and controlling the position and orientation of a robot's end-effector. It encompasses forward kinematics, which calculates end-effector position from joint parameters, and inverse kinematics, which determines joint parameters for a desired end-effector pose. Essential concepts include degrees of freedom, kinematic chains, and various methods for solving kinematic problems including both analytical and numerical techniques.
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What we have learnt
- Kinematics includes both forward and inverse problems that are crucial for robot movement.
- Denavit-Hartenberg parameters are key for simplifying transformations in robotic simulations.
- The Jacobian matrix relates joint velocities to end-effector velocities and is critical for understanding motion in robotic systems.
Key Concepts
- -- Forward Kinematics (FK)
- Determines the position and orientation of the end-effector given the joint parameters.
- -- Inverse Kinematics (IK)
- Calculates the joint parameters required to achieve a desired position and orientation of the end-effector.
- -- Jacobian Matrix
- A matrix that relates joint velocities to the end-effector linear and angular velocities.
- -- DenavitHartenberg Parameters
- A standardized method to assign coordinate frames to robotic links to simplify transformation calculations.
- -- Kinematic Redundancy
- A condition where a manipulator has more degrees of freedom than needed, allowing for greater flexibility.
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