Robot Kinematics

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Across
  1. 1. Connection between links allowing relative motion.
  2. 4. The type of kinematics that finds endeffector position from joint variables.
  3. 6. Measurement unit often used for rotational motion.
  4. 9. A type of rotation about the vertical axis.
  5. 11. Part of a transformation that involves an angle around an axis.
  6. 12. The study of motion without considering forces.
  7. 15. Rate of change of position; important in kinematics analysis.
  8. 16. Abbreviation for the number of independent movements a robot can make.
  9. 17. A type of rotation about the longitudinal axis.
Down
  1. 2. The type of kinematics that finds joint variables from endeffector position.
  2. 3. Matrix that describes the relationship between two frames (often denoted as T).
  3. 5. Matrix relating joint velocities to endeffector velocities.
  4. 7. The part of a robot that interacts with the environment, e.g., a gripper.
  5. 8. A coordinate system fixed on a robot link.
  6. 10. The volume within which a robot operates.
  7. 13. A line around which rotation occurs.
  8. 14. A position where the robot loses a degree of freedom.
  9. 18. A rigid body between joints in a robotic chain.