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In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position ...
Kinematics is a subfield of physics and mathematics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. [1][2][3] Kinematics, as a field of study, is often referred to as the "geometry of motion" and is ...
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.
Kinematics equations are the constraint equations of a mechanical system such as a robot manipulator that define how input movement at one or more joints specifies the configuration of the device, in order to achieve a task position or end-effector location. [1][2] Kinematics equations are used to analyze and design articulated systems ranging ...
Transport theorem. The transport theorem (or transport equation, rate of change transport theorem or basic kinematic equation or Bour's formula, named after: Edmond Bour) is a vector equation that relates the time derivative of a Euclidean vector as evaluated in a non-rotating coordinate system to its time derivative in a rotating reference frame.
Piston motion equations. The reciprocating motion of a non-offset piston connected to a rotating crank through a connecting rod (as would be found in internal combustion engines) can be expressed by equations of motion. This article shows how these equations of motion can be derived using calculus as functions of angle (angle domain) and of ...
These equations express the link lengths, L 1, L 2, and L 3, as a function of the stroke,(ΔR 4) max, the imbalance angle, β, and the angle of an arbitrary line M, θ M. Arbitrary line M is a designer-unique line that runs through the crank pivot point and the extreme retracted slider position. The 3 equations are as follows:
Darcy friction factor formulae. In fluid dynamics, the Darcy friction factor formulae are equations that allow the calculation of the Darcy friction factor, a dimensionless quantity used in the Darcy–Weisbach equation, for the description of friction losses in pipe flow as well as open-channel flow. The Darcy friction factor is also known as ...