Kinematics

  • Shuuji Kajita
  • Hirohisa Hirukawa
  • Kensuke Harada
  • Kazuhito Yokoi
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 101)

Abstract

The theory to analyze the relationship between the position and attitude of a link and the joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed, but the exact same theory is used for computer graphics as well. Both require mathematics and algorithms which can clearly represent a moving object in 3D space.

Keywords

Cross Product Joint Angle Rotation Matrix Local Coordinate System Humanoid Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Shuuji Kajita
    • 1
  • Hirohisa Hirukawa
    • 1
  • Kensuke Harada
    • 1
  • Kazuhito Yokoi
    • 1
  1. 1.Intelligent Systems Research, Institute Humanoid Research Group Tsukuba Central 2 National Institute of Advanced Industrial Science & Technology (AIST)TsukubaJapan

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