"机器人学基础：运动学教案与实例介绍"

Robot kinematics is a fundamental aspect of manipulator robotics that involves two key tasks: direct kinematics and inverse kinematics. Direct kinematics entails determining the orientation and position of the end effector based on the joint relations (rotations and translations) of the robot arm. In contrast, inverse kinematics involves calculating the joint rotations and orientations required to achieve a desired end effector position and orientation. This concept was discussed in detail in the "Robotics Basics - Robot Kinematics" PowerPoint presentation. The presentation covered various topics such as the importance of direct and inverse kinematics in robot motion planning, as well as the mathematical principles and algorithms involved in solving kinematics problems. One illustrative example provided in the presentation demonstrated direct kinematics by showing how the orientation and position of the end effector can be determined based on the known joint rotations and translations of the robot arm. This example highlighted the practical application and relevance of kinematics in robotics, emphasizing its role in enabling precise and efficient motion control of robotic manipulators. Overall, understanding robot kinematics is essential for developing advanced robotic systems and automation technologies. By mastering the concepts of direct and inverse kinematics, engineers and researchers can design and operate robots with improved accuracy, flexibility, and reliability, opening up new possibilities for various industrial and scientific applications.