Kinematics of a robot

Robotmaster supports 6 degree of freedom industrial robots of many different brands. All of these robots share common concepts. One concept they all share is their kinematics.

General Kinematics Terms

Kinematics - The relationships between the positions, velocities, and accelerations of the links of a manipulator, where a manipulator is an arm, finger, or leg.

Forward Kinematics - Solving the forward transformation equation to find the location of the hand in terms of the angles and displacements between the links (joint coordinates).

Inverse Kinematics - Solving the inverse transformation equation to find the relationships between the links of the manipulator from the location of the hand in space.

Kinematic Chain - A system of rigid bodies connected together by joints. A chain is called closed if it forms a closed loop. A chain that is not closed is called an open chain.

Joints

Every robot used in Robotmaster consists of 6 joints in a single open kinematic chain.

Open

Joint Set Configurations

Each set of 2 joints has 2 different configurations, to allow for a fully defined tool placement.

Base - Front and Back

Open

Elbow - Up and Down

Wrist - Positive and Negative