机器人学基础_第3章_机器人运动学讲义.pptVIP

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010 3.0 Introduction to Robot Kinematics Kinematics treats motion without regard to the forces that cause it. Within the science of kinematics one studies the position, velocity, acceleration, and all higher order derivatives of the position variables (with respect to time or any other variable). 3.0 Introduction to Robot Kinematics In manipulator robotics, there are two kinematics tasks: Direct (also forward) kinematics – Given are joint relations (rotations, translations) for the robot arm. Task: What is the orientation and position of the end e