Robotic Kinematics & Dynamics
This module introduces the core principles of robotic motion. **Kinematics** describes *how* a robot moves—the geometry of its motion—while **Dynamics** explains *why* it moves—the forces and torques involved. Mastering these concepts is key to designing, programming, and controlling any robotic system. This interactive app is designed to give you a hands-on feel for these fundamental ideas.
Use the tabs above to navigate. The **Kinematics Lab** is the best place to start for interactive learning!
2-Link Robot Arm Kinematics Lab
Live Robot Simulator
Forward Kinematics
Control the joint angles to see where the end-effector (hand) moves. The (x, y) coordinates are calculated from your inputs.
End-Effector Position:
X: 120.7, Y: 157.3
Inverse Kinematics
Enter a target (x, y) position and the simulator will calculate the required joint angles to reach it.
Understanding Robot Dynamics
Dynamics explains the relationship between joint torques and the resulting motion, governed by the conceptual equation:
τ (Torque)
The rotational force applied by the motors at each joint.
M(q)&quml; (Inertia)
Torque needed to accelerate the mass of the robot's links.
G(q) (Gravity)
Torque needed to counteract the force of gravity on the links.
The term **C(q, q̇)q̇** represents complex Coriolis and centrifugal forces, which become significant at high speeds.