Chapter 4: Kinematics and Dynamics of Robots
# **Chapter 4: Kinematics and Dynamics of Robots** Abstract Robot kinematics and dynamics are the study of how a robot moves, and the forces that cause that motion . Both are fundamental to robotics and are used to design and control robots. Kinematics Analyzes motion without considering forces Uses geometric properties like lengths and degrees of freedom Used for motion planning Can be used to describe the position, orientation, and motion of a robot's joints Dynamics Analyzes motion caused by forces, Uses parameters like mass and inertia, Used for motion control, and Represents the relationship between joint torques and robot motion. How kinematics and dynamics are related Kinematics and dynamics are closely related and complement each other Kinematics is usually easier to solve than dynamics Kinematics can have multiple solutions, while dynamics has a unique solution Applications Kinematics and dynamics mo...