Manipulator Differential Kinematics: Part I: Kinematics, Velocity, and Applications

Kinematics, derived from the Greek word for motion, is the branch of mechanics that studies the motion of a body, or a system of bodies, without considering mass or force. This two-part tutorial is about the kinematics of robot manipulators, and in that context, it is concerned with the relationship between the position of the robot's joints and the pose of its end effector as well as the relationships between various derivatives of those quantities. Kinematics is a fundamental concept in the study or application of robot manipulators, and our audience for Part I is students, practitioners, or researchers encountering this topic for the first time or looking for a concise refresher.

Automated summary

Kinematics is a branch of mechanics that studies motion without considering mass or force. This tutorial focuses on the kinematics of robot manipulators, particularly the relationship between joint positions and end effector poses. It is an essential concept for students, practitioners, or researchers new to this topic or in need of a concise refresher.