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The physical space in which the robot operates and the end-effector moves. Control in task space focuses on the outcome of movements.

A configuration of a robot where the end-effector loses certain degrees of freedom and control becomes difficult or impossible. It's critical to avoid singularities for smooth operation.

A type of robotic arm where each link is connected in a chain-like fashion. Understanding serial manipulators is key to their application in industries.

The device or tool attached to the end of a robot arm used to interact with the environment. The end-effector's performance is critical for task completion.

An approach to inverse kinematics that resolves multiple objectives by assigning different priorities to tasks, ensuring more critical tasks are satisfied first.

The ability to control the stiffness and flexibility of the robot's motion to adapt to external forces, enhancing interaction with the environment.

In gripping and manipulation, a condition where the forces and torques by the robot's end-effector ensure the object cannot be removed without breaking contact.

Oscillatory patterns that can emerge in a robot's movements due to specific dynamic conditions. Avoiding or exploiting limit cycles can be crucial for stable robot behavior.

Robots that have more degrees of freedom than the minimum required to complete a task. Redundancy can improve dexterity and flexibility.

The range of positions that can be reached by the end-effector of a robot. The workspace's size and shape depend on the robot's kinematic design.

A joint between two parts that dictates the relative motion between them. Kinematic pairs are elementary components in the design of robotic mechanisms.

The process of returning a robot to a pre-defined home position. Homing is typically the first step in a precise kinematic sequence.

A matrix that relates forces applied to the robot's end-effector to the resulting displacement, providing insights into the mechanical rigidity of the system.

The process used to determine the desired configuration among many possible solutions in a redundant robotic system, which affects task execution and efficiency.

The multi-dimensional space in which each dimension corresponds to one of the robot's joints. Understanding joint space is essential for controlling robot motion.

Motion of a robot around its joints that causes rotation. It's a component of a robot's movement that needs to be controlled for accurate positioning.

Different kinds of joints, such as revolute or prismatic, determine the type and range of motion a robot can have.

A methodology for systematically describing the geometry of kinematic chains. DH parameters simplify the kinematic analysis of robot arms.

A matrix that represents the translation and rotation of one link in the robot with respect to another. It is fundamental for calculating robot kinematics.

Linear movement of a robot's parts along one or more axes. Precise translational motion is vital for robots that perform tasks such as assembly or stacking.

A robot configuration with multiple chains of actuators supporting a single platform or end-effector. Offers increased stiffness and precision.

The process of determining the joint parameters that provide a desired position and orientation of the robot's end-effector. Key for complex tasks where the target position is known.

The simplification of kinematic equations by separating variables that can be controlled independently, often used in robotic hand-eye coordination.

Distinguishes between the forces causing movement (dynamics) and the movement itself (kinematics). Roboticists must understand both for full control of a robot.

The number of independent movements a robot can make. Critical for determining a robot's ability to manipulate its environment.

The process of designing the temporal evolution of the robot's pose to achieve smooth and continuous motion. Trajectory generation requires a deep understanding of robot kinematics.

A matrix that represents the relationship between joint velocities and end-effector velocities. It is essential for understanding and controlling the robot's velocity.

A matrix in robot dynamics that represents the mass distribution of the robot. While not strictly a kinematics concept, it is important for understanding the robot's potential kinematic behavior under forces.

A device that converts energy into motion, used to control robotic movement. The type and capabilities of actuators directly affect robot kinematics.

The study of the relationship between the rates of change in the joint space and the resulting velocity of the end-effector. Understanding this is vital for dynamic control of robots.

A control strategy in which controller gains are varied based on the robot's pose or task. Effective gain scheduling can improve robot performance across different kinematic states.

A series of links and joints connecting the base of a robot to its end-effector. Understanding kinematic chains is foundational to robotic movement analysis.

The calculation of the position and orientation of a robot's end-effector given its joint parameters. Essential for precise control and planning of a robot's motion.

Mathematical framework that describes the motion (translation and rotation) of objects like robot links. Screw theory provides insights into robot mobility and manipulation.