Kinematics Flashcards
1
Q
What is kinematics?
A
Kinematics is the art of
describing the position and
orientation of the joints in a
robot which is statically
positioned or in motion
2
Q
How is kinematics done?
A
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
3
Q
How many degrees of freedom is needed in robotics?
A
6
4
Q
Mobility
A
– the number of joints (redundant ones excluded)
5
Q
Redundancy
A
we have it when a robot can reach a target
position in more than one way (configuration)
6
Q
Degeneracy
A
Just a special case of redundancy => infinite
number of solutions
