Kinematics of robots is a branch of mechanics that concentrates on the motion of objects without reference to forces that cause movement. Robot kinematics invloves applying geometry to the varies degrees of freedom in the kinematic chains forming the structure of robotic systems. Kinematics of robots is key because it plans and controls movement of robots, along with computing actuator forces and torques. Non-linear equations are used to layout joint parameters to configure the robot system. Kinematic equations are paramount to the kinematics of robots.
Robot Inverse Kinematics
Robot inverse kinematics is the process of achieving the specific end effector position desired for a robot by computing the joint parameters. In other words you know what you want the end effector to preform, but you need to figure out the joint angles required to accomplish it. For instance, you want your inverse kinematics robot to grab a box, so you compute the angles for each joint in order for the robot to complete your task. Robot inverse kinematics is highly useful and effective, but can be very complicated since there may be no solutions or multiple ones.
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