Kinematics is the relationships between the positions, velocities, and accelerations of the links of a manipulator, where a manipulator is an arm, finger, or leg. In this chapter, we will develop a mathematical framework for describing these relationships, in particular position.
In the kinematic analysis of manipulator position, there are two separate problems to solve: direct kinematics, and inverse kinematics. Direct kinematics involves solving the forward transformation equation to find the location of the hand in terms of the angles and displacements between the links.
MatLab Simulink Toolbox Software for robotics and vision system
www.petercorke.com/Home.html Prof.Peter Corke (The University of Queensland – Australia)
RPY angle sets
ZYZ – Rotation Simulation