Internship← Robotics learning pathRobotics · Module 2 of 10
Mechanics and kinematics
Understand how robots move.
📖 Key ideas
- Degrees of freedom (DoF) count independent movements.
- Joints: revolute (rotate), prismatic (slide).
- Forward kinematics: joint angles → end position.
- Inverse kinematics: desired position → joint angles.
- Wheeled robots: differential drive, omni wheels, Ackermann steering.
💡 Real-life example: Inverse kinematics is working out how to bend your shoulder, elbow and wrist to reach a cup.
Degrees of freedomIndependent movement axes
Revolute jointRotating joint
Forward kinematicsJoint values to position
Inverse kinematicsPosition to joint values