# Kinematics/Dynamics Skill

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

## Purpose

Provides expert capabilities for analyzing and computing robot kinematics and dynamics, essential for motion control, force control, and trajectory planning.

## Key Features

- Forward/inverse kinematics
- Jacobian computation
- Dynamics modeling
- Gravity compensation
- Singularity analysis
- Impedance/admittance control

## When to Use

- Implementing custom IK solvers
- Computing robot dynamics for control
- Analyzing workspace and singularities
- Implementing force/torque control
- Setting up gravity compensation
