Robot Kinematics and Dynamics

Start with coordinate systems

Begin with SCARA, a mind map that sets out a robot representation, coordinate systems and a Denavit-Hartenberg table. It gives you a way to follow how joints and axes are represented before moving on to other models.

The Denavit-Hartenberg mind map describes how reference systems are located on links in articulated robotic systems. DH Model sets out rotations and translations along the axes. Read these alongside SCARA to compare the representations and the steps used in each map.

Explore inverse kinematics and models

Analytical Inverse Kinematics covers transformation formalism, the Denavit-Hartenberg convention and a method for solving inverse kinematics. Another mind map covers walking pose planning and inverse kinematics for biped robots. Together, they offer examples to study after the coordinate-system resources.

The page also lists mind maps on closed-form kinematic and dynamic models of an industrial-like RRR robot. Their excerpts cover rotational degrees of freedom, kinematic parameters and an experimental setup. Compare them to see how each resource presents the model.

Connect velocity and practice

The Velocity Kinematics and Statics flowchart introduces the relationship between joint velocities and the end effector, including the Jacobian matrix. The similarly named mind map covers the analytical Jacobian, position and orientation. Use the flowchart to follow the relationship, then consult the map for related terms.

After studying a map, use a listed quiz for practice and return to the map when you want to check a concept. The quiz titled quiz has no excerpt, so open it to see what it covers.

Use the page within Robotics

This topic is one section of the Robotics unit in Mechanical engineering. Its resources bring coordinate systems, inverse kinematics, velocity and models together within that section. Pick a resource that matches what you are studying and explore it at your own pace.