Kinematics/Dynamics Skill

Overview

Expert skill for computing robot kinematics and dynamics, including forward/inverse kinematics, Jacobians, and dynamic equations of motion.

Capabilities

• Implement forward kinematics from DH parameters
• Set up analytical and numerical inverse kinematics
• Compute Jacobian matrices for velocity kinematics
• Implement forward and inverse dynamics
• Configure mass matrix and Coriolis computation
• Set up gravity compensation
• Implement singularity detection and avoidance
• Configure workspace analysis and limits
• Set up force/torque sensor integration
• Implement impedance and admittance control

Target Processes

• robot-system-design.js
• moveit-manipulation-planning.js
• mpc-controller-design.js
• robot-calibration.js

Dependencies

• KDL (Kinematics and Dynamics Library)
• Pinocchio
• RBDL (Rigid Body Dynamics Library)
• Eigen

Usage Context

This skill is invoked when processes require kinematic chain analysis, dynamics computation, Jacobian-based control, or force/torque control implementations.

Output Artifacts

• DH parameter configurations
• Kinematics solver implementations
• Dynamics model code
• Jacobian computation routines
• Singularity analysis reports
• Impedance controller configurations