Coordinate frames, transformations, inverse functions for joint variables, kinematics and dynamics in robotics

Methods based upon classical methods, for moving coordinate frames coordinate transformations, inverse functions for joint variables kinematics and dynamics in robotics are developed. Basic principles for robotics are presented using fundamental definitions and concepts. Examples of the applications of those methods to determine inverse functions for joint variables to the PUMA 260 robot arm are included. An example showing applications of both the Newton-Euler and Lagrange's equations to a two-link robot arm is also given.