Kinematics/Dynamics Skill

Overview

Expert skill for computing robot kinematics and dynamics, including forward/inverse kinematics, Jacobians, and dynamic equations of motion.

Capabilities

• Implement forward kinematics from DH parameters
• Set up analytical and numerical inverse kinematics
• Compute Jacobian matrices for velocity kinematics
• Implement forward and inverse dynamics
• Configure mass matrix and Coriolis computation
• Set up gravity compensation
• Implement singularity detection and avoidance
• Configure workspace analysis and limits
• Set up force/torque sensor integration
• Implement impedance and admittance control