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Kinematics, derived from the Greek word for motion, is the branch of mechanics that studies the motion of a body, or a system of bodies, without considering mass or force. This two-part tutorial is about the kinematics of robot manipulators, and in that context, it is concerned with the relationship between the position of the robot&#x2019;s joints and the pose of its end effector as well as the relationships between various derivatives of those quantities. Kinematics is a fundamental concept in the study or application of robot manipulators, and our audience for Part I is students, practitioners, or researchers encountering this topic for the first time or looking for a concise refresher.

Manipulator Differential Kinematics: Part I: Kinematics, Velocity, and Applications [Tutorial]