Tag
Kinematics tutorials
6 tutorials tagged Kinematics.
Intermediate · 35 min
Mecanum Wheel Kinematics: Four Wheels, Three Axes
One roller at 45° gives you the whole matrix — and a fourth equation nobody uses.
Read tutorial →Intermediate · 45 min
From cmd_vel to Wheel Speeds: ROS 2 Differential Drive
Convert a Twist into left and right wheel speeds — kinematics, saturation, deadband, and a watchdog.
Read tutorial →Intermediate · 20 min read
Differential-Drive Odometry from Wheel Encoders
Integrate left and right wheel motion into a mobile robot pose, then identify and calibrate drift.
Read tutorial →Advanced · 22 min read
Inverse Kinematics of a Two-Link Robot Arm
Why a two-link arm has two solutions, where it can and cannot reach, and what a singularity really is.
Read tutorial →Intermediate · 40 min
Motion Profiles: Trapezoidal and S-Curve Acceleration
Ramp a move instead of commanding it — trapezoidal profiles, jerk limits, and what S-curve actually costs.
Read tutorial →Intermediate · 25 min
Robot Arm Types: Cartesian, SCARA, Delta and 6-Axis
Four architectures compared by workspace, stiffness and speed — and the kinematics duality between them.
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