Dynamics/Kinematics

Introduction
Content from Kinematics and Robot kinematics 

Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics is the science and math of describing the configuration, position, velocity, and acceleration of an object or a machine. We ignore the dynamics or changes in velocity/acceleration due to inertia of the machine. We also ignore internal or external forces that may be acting on the machine.

Robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation.

Topics

 * 1) Coordinate Systems
 * 2) Reference Frames
 * 3) Angular Velocity
 * 4) Angular Acceleration
 * 5) Rotating Frames