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There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...
Important formulas in kinematics define the velocity and acceleration of points in a moving body as they trace trajectories in three-dimensional space. This is particularly important for the center of mass of a body, which is used to derive equations of motion using either Newton's second law or Lagrange's equations .
In physics, equations of motion are equations that describe the behavior of a physical system in terms of its motion as a function of time. [3] More specifically, the equations of motion describe the behavior of a physical system as a set of mathematical functions in terms of dynamic variables.
The solution is the matrix exponential [ T ( t ) ] = e [ S ] t . {\displaystyle [T(t)]=e^{[S]t}.} This formulation can be generalized such that given an initial configuration g (0) in SE( n ), and a twist ξ in se( n ), the homogeneous transformation to a new location and orientation can be computed with the formula,
The kinematics equations for the series chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement allowed at each joint and separate rigid transformation [X] to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base ...
A fundamental tool in robot kinematics is the kinematics equations of the kinematic chains that form the robot. These non-linear equations are used to map the joint parameters to the configuration of the robot system. Kinematics equations are also used in biomechanics of the skeleton and computer animation of articulated characters.
A particular solution to Hamilton's equations is called a phase path, a particular curve (q(t),p(t)) subject to the required initial conditions. The set of all phase paths, the general solution to the differential equations, is the phase portrait: