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Chapter 4 Planar Kinematics - MIT OpenCourseWare

Introduction to Robotics, H. Harry Asada 1 Chapter 4 Planar Kinematics Kinematics is Geometry of Motion. It is one of the most fundamental disciplines in robotics, providing tools for describing the structure and behavior of robot mechanisms. In this Chapter , we will discuss how the motion of a robot mechanism is described, how it responds to actuator movements, and how the individual actuators should be coordinated to obtain desired motion at the robot end-effecter. These are questions central to the design and control of robot mechanisms. To begin with, we will restrict ourselves to a class of robot mechanisms that work within a plane, Planar Kinematics .

This is simply to evaluate the right-hand side of the kinematic equation for known joint displacements. In this section, we discuss the problem of moving the end-effecter of a manipulator arm to a specified position and orientation. We need to ... inverse kinematics problem, the kinematic structure is redrawn in Figure 4.2.1. ...

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