Description: The kinematics of limbs refers to the study of the movement of a robot’s limbs and their interactions with the environment. This field focuses on the description and analysis of movements without considering the forces that produce them. Kinematics is divided into two main branches: forward kinematics, which determines the position of the limbs based on joint angles, and inverse kinematics, which calculates the necessary angles to reach a desired position. Precision in limb kinematics is crucial for the design and operation of robots, especially in applications where precise object manipulation is essential. Additionally, kinematics allows for the simulation of movements, facilitating the programming and control of robots in complex environments. This study applies not only to industrial robots but also to service, surgical, and humanoid robots, where coordination and fluid movement are fundamental to their effectiveness and safety.
History: The kinematics of limbs has its roots in robotics from the 1950s when the first industrial robots began to be developed. One significant milestone was the work of George Devol and his invention of the Unimate in 1961, the first industrial robot. As robotics advanced, the need to better understand robot movements became evident, leading to the development of kinematic algorithms in the following decades. In the 1980s and 1990s, research in kinematics expanded with the rise of mobile and humanoid robots, driving the development of more sophisticated techniques for motion control.
Uses: The kinematics of limbs is used in various robotic applications, including industrial automation, where robots must perform assembly and material handling tasks with high precision. It is also fundamental in medical robotics, where surgical robots require precise movements to perform delicate procedures. Additionally, it is applied in service robotics, such as cleaning robots and personal assistants, where interaction with the environment is crucial. Kinematics also plays an important role in the simulation and animation of characters in video games and films.
Examples: An example of limb kinematics in action is the Da Vinci robot, used in minimally invasive surgery, which requires precise and controlled movements. Another example is Honda’s humanoid robot ASIMO, which uses advanced kinematics to walk and perform complex tasks. In industry, robotic arms from companies like KUKA and ABB use kinematic algorithms to perform assembly and welding tasks with high precision.
