Kinematic Theory

Kinematic theory studies the motion of systems without considering forces, focusing on the relationships between positions, velocities, and accelerations of components. Current research emphasizes developing efficient algorithms for trajectory optimization in robotics, particularly for redundant manipulators and complex systems like continuum robots, often employing techniques like dual quaternions and transformer networks. These advancements improve robot control, enable more sophisticated simulations, and facilitate applications ranging from manufacturing and human motion capture to the design of novel mechanisms and safe autonomous driving systems.