WHAT IS KINEMATICS?
KINEMATICS is the study of the motion of a body or body segment without reference to the forces that act on the system. The kinematics of a body can be described by:
POSE - Position and attitude (or orientation) at a given instant.
DISPLACEMENT - Translation and rotation from one pose to another.
VELOCITY - Linear and/or angular changes in displacement with respect to time.
ACCELERATION - Linear and/or angular changes in velocity with respect to time.