Glossary · Motion control and drives
Kinematics
Also known as: Kinematic structure, Kinematic chain
German: Kinematik
In robotics and machine design, kinematics is the description of motion without regard to forces: the geometry of a machine's joints and links and the mathematical relation between axis positions and the position and orientation of the tool.
- Motion control
In one sentence
Kinematics describes how a machine's joints and links move and how axis positions relate to the tool's position, without regard to forces.
Example
Delta robots, SCARA robots and six-axis articulated robots have different kinematics, so their controllers use different kinematic models.
How it applies
- Engineering: The kinematic structure (serial, parallel, Cartesian) determines the workspace, stiffness and which transformations the controller needs. Motion controllers often provide predefined kinematic transformations.
- Commissioning: Link lengths, offsets and zero positions are entered or calibrated.
- Operation: Cartesian jogging, tool frames and workspace limits all rely on the kinematic model.
- Documentation: Describe the kinematic structure, axis names and directions, and the workspace with drawings. The workspace figure is also an input for risk assessment and for the layout of guards; make sure the drawing and the configured limits match.
Kinematics vs. dynamics
Kinematics deals with positions, velocities and accelerations. Dynamics adds masses, forces and torques, which matter for motor sizing and control tuning.