: This is the challenge. If you know where you want the hand to be (e.g., "pick up that bolt at coordinate X, Y, Z"), the robot must calculate the specific joint angles required to get there. This often has multiple solutions—a robot can reach a point with its "elbow" up or down. The Science of Force: Dynamics
: This is the "easy" direction. If you know the angle of every joint (like your shoulder, elbow, and wrist), you can use transformation matrices to calculate exactly where the "end effector" (the robot's hand) is in 3D space. Elements of Kinematics and Dynamics of Industri...
Kinematics is the "geometry of motion". It describes how a robot moves—its position, velocity, and acceleration—without considering the physical forces or masses involved. In an industrial setting, this is broken down into two main puzzles: : This is the challenge