# Questions tagged [kinematics]

Kinematics is the branch of mechanics dealing with the motion of points and objects.

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### Using jacobian of arm robot to calculate transformation matrices?

I have been given a Jacobian for a 3 revolute joint robot. I need to obtain the origins of each of the joint. Origins of the joints can be obtained once I get $T^0_1$, $T^0_2$, $T^0_3$ and $T^0_4$. ...
328 views

### Optimization of link lengths for 3R serial manipulator

I am trying to formulate an optimization problem for determining link lengths of 3R manipulator shown in picture below, Following are the constraints, Robot arm should be reachable at point x = 100, ...
630 views

### How to check reachability of manipulator to a point?

I have written a MATLAB code for inverse kinematics of 3R robotic arm, which returns value of joint angles for given link lengths and end effector position and orientation. But if location of point is ...
66 views

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### I need help figuring out what motor is used in this design

I am learning how to make rigs for high speed motion control. Basically, whatever action needs to be executed must be done by a rig that is triggered at an exact moment. In this particular case, I ...
405 views

### Orocos KDL issue with Rotation (matrix) - Inverse Kinematics

I have a problem with the Orocos IK solver, especially with the KDL::Rotation matrix input. I try to call my KDL IK solver with a normal vector and a rotation. If I use the example values for the ...
149 views

### Does Inverse Kinematics need the current joint angles?

I had a discussion with a study colleague about the IK solver. The question was: Does IK need the current joint values to calculate the requested position. I think it doesn't need it. From my ...
11k views

### Running my 3 DOF Inverse Kinematics Code: Works in MATLAB, not in Python

I asked a question similar to this earlier, but I believe I have a new problem. I've been working on figuring out the inverse kinematics given an x,y,z coordinate. I've adopted the Jacobian method, ...
948 views

### Confusion about order of homogeneous transform multiplication

This is my first post here, so if I unknowingly vioated any rules, mods are welcome to edit my post accordingly. Ok, so my problem is that following Craig's conventions, I can't seem to find the ...
689 views

### Real-time TCP position/pose control on a robotic arm such as YuMi: recommendation to calculate IK/Inverse Jacobian?

I plan to make a mouse or a gesture control robot like this video on YouTube : ABB Externally guided motion.  For a 6-axes robot, I could implement it by using ABB’s EGM (Externally Guided Motion) ...
2k views

### Any free or paid software for graphical drawing of Robotics Kinematic Scheme? [closed]

I have been searching for days looking for a dedicated software for easily draw kinematic diagrams of robotics like this: I came by this software but it is a bit hard to grasp. Is there any GUI based ...
2k views

### Jacobian-based trajectory following

I would like to control my 7 DOF robot arm to move along a Cartesian trajectory in the world frame. I can do this just fine for translation, but I am struggling on how to implement something similar ...
675 views

### Forward kinematics equations

I'm stuck at computing forward kinematics equations. I have configuration of the first two joints like on the following image: Transformation from the origin to the first joint basis is trivial: ...
97 views

### How big is the set of kinematics singularities?

Suppose we have an $n$-DOF robot manipulator and let $q \in \mathbf{R}^n$ denotes a robot joint configuration. Then a singular configuration $q'$ is a configuration at which the Jacobian $J(q')$ does ...
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### Matlab Inverse Kinematics 6 DOF

I'm trying to write an inverse kinematics Matlab code for a 6 DOF robotic arm that has the following link parameters: Twist angle (alpha): [-90, 0, 90, -90, 90, 0] ...
79 views

### Inverse kinematics for a robot lamp

I've been working on a robot lamp. Looking something like this: So i had a few questions. I've decided to simplify the movements by giving the head a fixed orientation like you see in the picture. ...
253 views

### How to Calculate the Translational and Rotational Velocity of a 4 Wheeled Robot?

I have a robot with a 4 wheel drive using mecanum wheels to allow for more mobility. For the engineering documentation I am looking to find both the translational velocity and rotational velocity of ...
935 views

### Forward and Revers Kinematics For Modified Hanging Plotter

I'm building a modified version of the standard hanging plotter (v-plotter). The basic idea is that you have two cables hanging from stepper motors which form a triangle supporting the pen at the tip. ...
142 views