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Kinematic Programming

Kinematic programming involves defining and controlling the motion of machines, such as robots and CNC machines, by specifying positions, velocities, and trajectories. It utilizes kinematics to generate commands for moving end-effectors within a workspace, incorporating aspects like joint-space and Cartesian-space motion, trajectory planning, and motion constraints. This programming is crucial for applications in industrial automation and requires a high level of complexity and awareness of kinematic models.

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44 views11 pages

Kinematic Programming

Kinematic programming involves defining and controlling the motion of machines, such as robots and CNC machines, by specifying positions, velocities, and trajectories. It utilizes kinematics to generate commands for moving end-effectors within a workspace, incorporating aspects like joint-space and Cartesian-space motion, trajectory planning, and motion constraints. This programming is crucial for applications in industrial automation and requires a high level of complexity and awareness of kinematic models.

Uploaded by

Preethamgowda Precious
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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What is

Kinematic programming ?
Image:https://github.com/topics/kinematics

Kinematic programming refers to the process of


defining and controlling the motion of machines—such
as robots, CNC machines, or automated
manipulators—through the precise specification of
positions, velocities, and trajectories in space.
image:https://www.mdpi.com/2218-6581/13/8/118

Kinematics is the branch of mechanics that


describes motion without regard to the forces that
cause it.

Programming in this context involves generating a


sequence of coordinate and speed commands to
move an end-effector (tool, gripper, laser head, etc.)
from one point to another within a workspace.
Working Principle of
Kinematic Programming

Aspect Summary

- Joint-space: Motion via joint angles/displacements.


Kinematic Models - Cartesian-space: Motion via x‑y‑z positions +
orientation.

- Forward: Joint inputs → end-effector position. -


Kinematics
Inverse: Desired position → required joint values.

- PTP: Direct point-to-point moves. -


Linear/contouring: Straight/curved paths. - Spline:
Trajectory
Smooth, continuous motion using polynomials. -
Planning
Controller interpolates motion with specified speeds
& acceleration.
- Joint range limits. - Velocity/acceleration caps. -
Motion
Collision avoidance logic. - Coordinate system
Constraints
alignment (tool/workpiece frames).

- Sensors provide real-time position data. -


Feedback &
PID/model-based control minimizes deviation from
Control
desired path (closed-loop).
Comparison Table of
Kinematic Programming

Path Planning (CAM-


Feature Kinematic Programming
driven)

Control in
Motion Automatic via CAM
joint/Cartesian space,
Specification software
incl. dynamics

Position High resolution via Depends on CAM


Resolution interpolation modules algorithms

Kinematic Handles joint limits, Depends on simulation


Awareness singularities model

Trajectory Continuous, with Varies; may need post-


Smoothness acceleration control processing

Programming High—requires kinematic Low—CAM automates


Complexity models & computation tasks

Typical Use- Industrial robots, Complex 3D freeform


Cases advanced automation paths
Pros of Kinematic Programming
Cons of Kinematic Programming
Applications of
Kinematic Programming
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