# Kinematics/Dynamics Skill

> Robot kinematics and dynamics computation including forward/inverse kinematics and dynamics

- Skill: `a5c-ai/kinematics-dynamics-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds@latest add a5c-ai/kinematics-dynamics-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/a5c-ai/kinematics-dynamics-skill/raw
- Safety review: pending (external: skill-scanner PASS, skillspector PASS)
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: a5c-ai (https://skillmd.com/u/a5c-ai)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/a5c-ai/kinematics-dynamics-skill

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# 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