Editing Robot kinematics (section)

{{short description|Geometric analysis of multi-DoF kinematic chains that model a robot}}

'''Robot kinematics''' applies [[geometry]] to the study of the movement of [[degree of freedom (mechanics)|multi-degree of freedom]] [[kinematic chain]]s that form the structure of [[robotic]] systems.<ref>{{cite book
  | last = Paul
  | first = Richard
  | title = Robot manipulators: mathematics, programming, and control : the computer control of robot manipulators
  | publisher = MIT Press, Cambridge, Massachusetts
  | date = 1981
  | url = https://books.google.com/books?id=UzZ3LAYqvRkC
  | isbn =978-0-262-16082-7
}}
</ref><ref>J. M. McCarthy, 1990, ''Introduction to Theoretical Kinematics,'' MIT Press, Cambridge, Massachusetts.</ref>  The emphasis on geometry means that the links of the [[robot]] are modeled as [[rigid bodies]] and its [[Kinematic pair|joints]] are assumed to provide pure [[rotation]] or [[Translation (geometry)|translation]].

[[Robot]] [[kinematics]] studies the relationship between the dimensions and connectivity of kinematic chains and the position, [[velocity]] and [[acceleration]] of each of the links in the robotic system, in order to plan and control movement and to compute [[actuator]] forces and [[torque]]s. The relationship between [[mass]] and [[inertia]] properties, motion, and the associated forces and torques is studied as part of [[multibody system|robot dynamics]].  
<!-- this is not exactly true.  One of the most active areas within robot kinematics is the [[screw theory]].-->