The document discusses robot kinematics and robot programming. It covers topics like forward and inverse kinematics, Jacobian matrices, and manipulator dynamics. It also discusses trajectory generation and manipulator mechanism design. Finally, it discusses robot programming languages like VAL and how they are used to program motion commands, sensor commands, end effector commands, and simple programs.

1. UNIT IV
ROBOT KINEMATICS AND ROBOT
PROGRAMMING
Forward Kinematics, Inverse Kinematics and Difference; Forward
Kinematics and Reverse Kinematics of manipulators with Two, Three
Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3
Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics,
Trajectory Generator, Manipulator Mechanism Design-Derivations and
problems. Lead through Programming, Robot programming Languages-
VAL Programming-Motion Commands, Sensor Commands, End Effector
commands and simple Programs.

2. Robot Kinematics: Forward and
Inverse Kinematics
• Kinematics studies the motion of bodies
without consideration of the forces or moments
that cause the motion.
• Robot kinematics refers the analytical study of
the motion of a robot manipulator. Formulating
the suitable kinematics models for a robot
mechanism is very crucial for analyzing the
behaviour of industrial manipulators.

12. Two Frames Kinematic Relationship:
There is a kinematic relationship between two frames,
basically a translation and a rotation.
In manipulator robotics, there are two kinematic tasks:
Direct (also forward) kinematics – Given are
joint relations (rotations, translations) for the robot arm.
Transformation:
In robotics applications, many different coordinate
systems can be used to define where robots, sensors, and other
objects are located. You can transform between coordinate
systems when you apply these representations to 3-D points.