Kinematics analysis is a crucial part of multiple joint-enabled robots. A multi-joint enabled robot requires extensive mathematical calculations to be done so the end effector's position can be determined with respect to the other connective joints involved and their respective frames in a specific coordinate system. For a locomotive quadruped robot, it is essential to determine two types of kinematics for the robot's leg position on the coordinate. For the part of forward kinematics, it measures the position, and joint angles can be calculated using inverse kinematics. Mathematical derivation of the joint angles is derived here, and Python-based simulation has been done to verify and simulate the robot's locomotion. This approach has been tested beneficial over other methods as Python-based code is used which makes it easier to do serial communication and therefore it could be deployed in a micro-controller unit to interact with a prototype leg.

翻译：运动学分析是多关节机器人的关键组成部分。多关节机器人需要大量数学运算以确定末端执行器在特定坐标系中相对于其他连接关节及其各自位姿的位置。对于移动式四足机器人，必须确定机器人腿部在坐标上的两种运动学类型。在正向运动学部分，其测量位置可通过逆运动学计算关节角度。本文推导了关节角度的数学公式，并基于Python进行了仿真以验证和模拟机器人的运动。该方法经测试优于其他方法，因为基于Python的代码使得串行通信更易实现，从而可部署至微控制器单元与原型腿进行交互。