ABSTRACT
This chapter discusses the general pose representation of rigid bodies is introduced, and then the robot kinematics is developed. Robotics is concerned with the study of those machines that can replace human beings in the execution of a task, including physical activity, decision-making, and human interaction. The robot locomotion can be described by the pose information, which serves as the output of the robot model. The representations are generally used for the analysis of specific mechanisms such as the spherical and cylindrical robot joints as well as the omnidirectional cameras. In robotics, a path is a spatial concept in space that leads from an initial pose to a final pose. The motions of individual wheels would be combined to compute the motion of the robot as a whole. In real applications, wheeled mobile robots are widely used for intelligent transportation and manipulation.
