Kinematics

Question 1

What is kinematics?

Answer 1

Kinematics is the art of
describing the position and
orientation of the joints in a
robot which is statically
positioned or in motion

Question 2

How is kinematics done?

Answer 2

This is done by assigning a frame to each joint and by using 4x4
transformation matrices we can get the unknown information we need
from known data and circumstances

Question 3

How many degrees of freedom is needed in robotics?

Answer 3

6

Question 4

Mobility

Answer 4

– the number of joints (redundant ones excluded)

Question 5

Redundancy

Answer 5

we have it when a robot can reach a target
position in more than one way (configuration)

Question 6

Degeneracy

Answer 6

Just a special case of redundancy => infinite
number of solutions