Kinematics

Robot kinematics: forward and inverse kinematics, Jacobians, and motion control for manipulators and mobile robots.

Snippets

• Denavit-Hartenberg (DH) Parameters
  Denavit-Hartenberg convention for systematically describing robot manipulator …
• DH Parameter Examples and Common Configurations
  Practical examples of DH parameter configurations for common robot manipulators …
• Four-Wheel Independent Drive Kinematics
  Forward and inverse kinematics for four-wheel independent drive robots with …
• Front-Wheel Drive (FWD) Kinematics
  Forward and inverse kinematics for front-wheel drive robots with Ackermann …
• Jacobian Matrices for Forward and Inverse Kinematics
  Jacobian matrices relate joint velocities to end-effector velocities, essential …
• Mecanum Wheel Kinematics
  Forward and inverse kinematics for mecanum wheel robots, enabling …
• Rear-Wheel Drive (RWD) Kinematics
  Forward and inverse kinematics for rear-wheel drive robots with front-wheel …
• Two-Wheel Balancing Robot Kinematics and Control
  Kinematics and control for two-wheel self-balancing robots (inverted pendulum on …
• Two-Wheel Differential Drive Robot Kinematics
  Forward and inverse kinematics for two-wheel differential drive robots, the most …