Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Kepler problemIn classical mechanics, the Kepler problem is a special case of the two-body problem, in which the two bodies interact by a central force F that varies in strength as the inverse square of the distance r between them. The force may be either attractive or repulsive. The problem is to find the position or speed of the two bodies over time given their masses, positions, and velocities. Using classical mechanics, the solution can be expressed as a Kepler orbit using six orbital elements.
Inertial frame of referenceIn classical physics and special relativity, an inertial frame of reference (also called inertial space, or Galilean reference frame) is a frame of reference not undergoing any acceleration. It is a frame in which an isolated physical object—an object with zero net force acting on it—is perceived to move with a constant velocity or, equivalently, it is a frame of reference in which Newton's first law of motion holds.
Gravitational fieldIn physics, a gravitational field is a model used to explain the influences that a massive body extends into the space around itself, producing a force on another massive body. Thus, a gravitational field is used to explain gravitational phenomena, and is measured in newtons per kilogram (N/kg). Equivalently, it is measured in meters per second squared (m/s2). In its original concept, gravity was a force between point masses.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Coordinate systemIn geometry, a coordinate system is a system that uses one or more numbers, or coordinates, to uniquely determine the position of the points or other geometric elements on a manifold such as Euclidean space. The order of the coordinates is significant, and they are sometimes identified by their position in an ordered tuple and sometimes by a letter, as in "the x-coordinate". The coordinates are taken to be real numbers in elementary mathematics, but may be complex numbers or elements of a more abstract system such as a commutative ring.
Kinematic pairIn classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.
Steiner ellipseIn geometry, the Steiner ellipse of a triangle, also called the Steiner circumellipse to distinguish it from the Steiner inellipse, is the unique circumellipse (ellipse that touches the triangle at its vertices) whose center is the triangle's centroid. Named after Jakob Steiner, it is an example of a circumconic. By comparison the circumcircle of a triangle is another circumconic that touches the triangle at its vertices, but is not centered at the triangle's centroid unless the triangle is equilateral.
Non-inertial reference frameA non-inertial reference frame is a frame of reference that undergoes acceleration with respect to an inertial frame. An accelerometer at rest in a non-inertial frame will, in general, detect a non-zero acceleration. While the laws of motion are the same in all inertial frames, in non-inertial frames, they vary from frame to frame depending on the acceleration. In classical mechanics it is often possible to explain the motion of bodies in non-inertial reference frames by introducing additional fictitious forces (also called inertial forces, pseudo-forces and d'Alembert forces) to Newton's second law.
Elastic energyElastic energy is the mechanical potential energy stored in the configuration of a material or physical system as it is subjected to elastic deformation by work performed upon it. Elastic energy occurs when objects are impermanently compressed, stretched or generally deformed in any manner. Elasticity theory primarily develops formalisms for the mechanics of solid bodies and materials. (Note however, the work done by a stretched rubber band is not an example of elastic energy. It is an example of entropic elasticity.
Polar coordinate systemIn mathematics, the polar coordinate system is a two-dimensional coordinate system in which each point on a plane is determined by a distance from a reference point and an angle from a reference direction. The reference point (analogous to the origin of a Cartesian coordinate system) is called the pole, and the ray from the pole in the reference direction is the polar axis. The distance from the pole is called the radial coordinate, radial distance or simply radius, and the angle is called the angular coordinate, polar angle, or azimuth.
Kepler orbitIn celestial mechanics, a Kepler orbit (or Keplerian orbit, named after the German astronomer Johannes Kepler) is the motion of one body relative to another, as an ellipse, parabola, or hyperbola, which forms a two-dimensional orbital plane in three-dimensional space. A Kepler orbit can also form a straight line. It considers only the point-like gravitational attraction of two bodies, neglecting perturbations due to gravitational interactions with other objects, atmospheric drag, solar radiation pressure, a non-spherical central body, and so on.
