Kinematics Explained


Kinematics

Kinematics is the science of motion which treats motion without regard to the forces which causes it (Craig, 1986).
Kinematics is a heavily research area in robotics where it is used to manipulate robot arm. So, in a work environment kinematics is used to manipulated the robot arm to pick up objects, etc.

Forward Kinematics

In forward kinematics, angles for each joint in the articulated structure is specified. The following figure further illustrates:

2 Degree of Freedom (DOF) Articulated Structure

If we take the above articulate structure, in forward kinematics the angles for Angle_1 and Angle_2 are specified which effectively moves (position and orient (3D env.)) the End-Effector(Gripper,hand).

Inverse Kinematics (IK)

In IK, the position and orientation (3D env.) or the end-effector is specified instead. The problem in IK is to solve for the joint angles needed to reach the given end-effector position. This can be done Algebraically, Geometrically or Iteratively. Refer to my thesis on solving IK algebraically (specific) and iteratively (generalized).