# Robot Kinematics: Motion, Kinematics and Dynamics

arXiv: https://arxiv.org/abs/2211.15093 · HTML: https://mlsanity.com/paper/2211.15093/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 4 references that are in the map.
- First posted on arXiv 28 Nov 2022.

## Builds on (most cited first, 1 of 1)

- [Robot Basics: Representation, Rotation and Velocity](https://mlsanity.com/paper/2211.02786/) (2022)

## Built on by (most cited first, 1 of 1)

- [Use Digital Twins to Support Fault Diagnosis From System-level Condition-monitoring Data](https://mlsanity.com/paper/2411.01360/) (2024)

## Abstract (arXiv)

This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our previous tutorial article on robot basics. Specifically, in this article, we will cover some more advanced topics on robot kinematics, including robot motion, forward kinematics, inverse kinematics, and robot dynamics. For the topics, terminologies and notations introduced in the previous article, we will use them directly without re-introducing them again in this article. Also similar to the previous article, math and formulas will also be heavily used in this article as well (hope the readers are well prepared for the upcoming math bomb). After reading this article, readers should be able to have a deeper understanding about how robot motion, kinematics and dynamics. As to some more advanced topics about robot control, we will introduce them in the following tutorial articles for readers instead.