How to Manipulate? Kinematics, Dynamics and Architecture of Robot Arms

Abstract

recognize the architecture and mobilities of a robot arm;• solve the forward and inverse kinematics problem of serial and parallel manipulators; • obtain the Jacobian relating the velocities of the joints to the end-effector;• analyze the Jacobian to obtain the different singularities and understand their physical meaning; • obtain the equations defining the dynamics of a robotic manipulator.