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Mimic Vocabulary

Vocabulary

This section is intended to clarify some of the vocabulary used throughout this repository and should be updated as necessary.

Keywords, definitions, abbreviations

  • Forward Kinematics (FK): Refers to the use of axis angles to compute the position of the end-effector

  • Inverse Kinematics (IK): Refers to the use of kinematic equations (i.e. "IK solver"), to determine the axis angles of a robot, given the position of the robot's end-effector in relation to its base frame.

  • Tool Center Point (TCP): Refers to the point in relation to which all robot positioning is defined. If the tool on the end of the robot is a marker, for instance, the TCP would be defined as the tip of the marker.