Unit IV robotics-- Kinematics

Kinematic Forces

1. UNIT IV
ROBOT KINEMATICS AND ROBOT
PROGRAMMING
ForwardKinematics,InverseKinematicsandDifference;Forward
KinematicsandReverseKinematicsofmanipulatorswithTwo,Three
DegreesofFreedom(in2Dimension),FourDegreesoffreedom(in3
Dimension)Jacobians,VelocityandForces-ManipulatorDynamics,
TrajectoryGenerator,ManipulatorMechanismDesign-Derivationsand
problems.LeadthroughProgramming,RobotprogrammingLanguages-
VALProgramming-MotionCommands,SensorCommands,EndEffector
commandsandsimplePrograms.

2. Robot Kinematics: Forward and
Inverse Kinematics
•Kinematics studies the motion of bodies
without consideration of the forces or moments
that cause the motion.
•Robot kinematics refers the analytical study of
the motion of a robot manipulator. Formulating
the suitable kinematics models for a robot
mechanism is very crucial for analyzingthe
behaviour of industrial manipulators.

12. Two Frames Kinematic Relationship:
There is akinematic relationshipbetweentwo frames,
basically a translation and a rotation.
In manipulatorrobotics, there aretwo kinematictasks:
Direct (also forward)kinematics–Given are
jointrelations(rotations, translations) for therobotarm.
Transformation:
Inroboticsapplications, many different coordinate
systems can be used todefinewhererobots, sensors, and other
objects are located. You cantransformbetween coordinate
systems when you apply these representations to 3-D points.