Robotics: Kinematics

by Asaad Goni

Submitted : Spring 2010

In this project, I researched the kinematic analysis of robot arm. The kinematic analysis is the relationships between the positions, velocities, and accelerations of the links of a manipulator. The kinematics separate in two types, direct kinematics and inverse kinematics. In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot. In forward kinematics which is our case here, the length of each link and position of the point in work volume is given and we have to find the coordinates of each joint. It is so hard to solve and it will be harder if we increase the freedom degrees. There are different method to solve the forward kinematics.

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