Robot Kinematics overview Basic problems in robotic Kinematics Direct Kinematics Inⅴ erse Kinematics Z End effector E px, py, p: P ,,y 0 Base 0 Joint variables Cartesian B arabis y X=f(0) Direct (oint)8 X(Cartesian Linear relationship between Cartesian rate of ee and joint ratesRobot Kinematics Overview • Basic Problems in Robotic Kinematics Direct Kinematics Inverse Kinematics . . . X Y Z O Base End Effector 1 2 i n                         =    z y x p p p x                         =  n   . . . 2 1 θ px, , py,pz  Joint Variables Cartesian Variables θ θ f x     = Linear relationship between Cartesian rate of EE and joint rates  x Direct Inverse x = f(θ) (Joint) (Cartesian)