GeometryGeometry (; ) is a branch of mathematics concerned with properties of space such as the distance, shape, size, and relative position of figures. Geometry is, along with arithmetic, one of the oldest branches of mathematics. A mathematician who works in the field of geometry is called a geometer. Until the 19th century, geometry was almost exclusively devoted to Euclidean geometry, which includes the notions of point, line, plane, distance, angle, surface, and curve, as fundamental concepts.
CurveIn mathematics, a curve (also called a curved line in older texts) is an object similar to a line, but that does not have to be straight. Intuitively, a curve may be thought of as the trace left by a moving point. This is the definition that appeared more than 2000 years ago in Euclid's Elements: "The [curved] line is [...] the first species of quantity, which has only one dimension, namely length, without any width nor depth, and is nothing else than the flow or run of the point which [...
Differentiable curveDifferential geometry of curves is the branch of geometry that deals with smooth curves in the plane and the Euclidean space by methods of differential and integral calculus. Many specific curves have been thoroughly investigated using the synthetic approach. Differential geometry takes another path: curves are represented in a parametrized form, and their geometric properties and various quantities associated with them, such as the curvature and the arc length, are expressed via derivatives and integrals using vector calculus.
KinematicsKinematics 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, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
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