kinematicsdynamics-skill

# Kinematics/Dynamics Skill ## Overview Expert skill for computing robot kinematics and dynamics, including forward/inverse kinematics, Jacobians, and dynamic equations of motion. ## Capabilities - Implement forward kinematics from DH parameters - Set up analytical and numerical inverse kinematics - Compute Jacobian matrices for velocity kinematics - Implement forward and inverse dynamics - Configure mass matrix and Coriolis computation - Set up gravity compensation - Implement singularity detection and avoidance - Configure workspace analysis and limits - Set up force/torque sensor integration - Implement impedance and admittance control ## Target Processes - robot-system-design.js - moveit-manipulation-planning.js - mpc-controller-design.js - robot-calibration.js ## Dependencies - KDL (Kinematics and Dynamics Library) - Pinocchio - RBDL (Rigid Body Dynamics Library) - Eigen ## Usage Context This skill is invoked when processes require kinematic chain analysis, dynamics computation, Jacobian-based control, or force/torque control implementations. ## Output Artifacts - DH parameter configurations - Kinematics solver implementations - Dynamics model code - Jacobian computation routines - Singularity analysis reports - Impedance controller configurations