6. Kinematics and Dynamics

This section describes the kinematic and dynamic calculations that the voraus Robot Control provides in addition to the commands that move the robot. These functions evaluate the model of the currently loaded robot and are available through the OPC UA interface.

The conversion of poses between joint space and Cartesian space is described in Kinematic Transformations. The underlying robot model, in particular the coordinate system conventions and the configuration vector, is described in Robot Description.

Note

This section is currently under development. Not all topics listed above are included yet. The content will be expanded progressively with upcoming voraus.core releases. If you have any questions in the meantime, please contact voraus support.