Kinematics/Dynamics Skill

SkillDev tools

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

Instructions available. Your AI can read the instructions. Execution depends on the setup they require.

Account requirements not reviewed. Check the skill instructions before use; ahel provides instructions and does not run this skill.

Add ahel to your AI once: Claude, ChatGPT, Cursor, Claude Code or Codex. Then ask it to use this.

Then ask your AI: use the Kinematics/Dynamics Skill skill

What this skill tells your AI

The instructions your AI receives, as published by a5c-ai/babysitter in library/specializations/robotics-simulation/skills/kinematics-dynamics/SKILL.md and read by ahel’s review.

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

Signals

GitHub stars: 2k
Forks: 112
Last commit: Sep 2026

Advanced

Item type: skill
Key: kinematics-dynamics-skill
Source: github.com/a5c-ai/babysitter

github.com/a5c-ai/babysitter