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 - Imp…