Robot Kinematics: Motion, Kinematics and Dynamics

TL;DR

This tutorial provides an in-depth overview of robot kinematics and dynamics, covering advanced topics like motion, forward and inverse kinematics, and robot dynamics, with detailed mathematical explanations.

Contribution

It offers a comprehensive and detailed tutorial on advanced robot kinematics and dynamics, expanding on basic concepts with mathematical rigor.

Findings

Enhanced understanding of robot motion and kinematics

Detailed mathematical formulations of robot dynamics

Foundation for advanced robot control topics

Abstract

This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our previous tutorial article on robot basics. Specifically, in this article, we will cover some more advanced topics on robot kinematics, including robot motion, forward kinematics, inverse kinematics, and robot dynamics. For the topics, terminologies and notations introduced in the previous article, we will use them directly without re-introducing them again in this article. Also similar to the previous article, math and formulas will also be heavily used in this article as well (hope the readers are well prepared for the upcoming math bomb). After reading this article, readers should be able to have a deeper understanding about how robot motion, kinematics and dynamics. As to some more advanced topics about robot control, we will introduce them in the following tutorial articles for readers instead.