Kinematics analysis is a crucial part for multiple joint enabled robot. For Mmathematically moving a multi joined enabled robot, it needs some mathematical calculations to be done that way so the end effector's position can be determined with respect to the other connective joints involved and their respective frames in a specific co-ordinate system. For a locomotive quadruped robot, it is essential to determine two types of kinematics for the robot's leg position on the co-ordinate. For the part of forward kinematics, it measures the position and er can calculate the joint angles by using inverse kinematics. in this study, we mathematically analyze and derived the forward and the inverse kinematics of the quadruped robot and first we have done the simulation with Jupiter notebook in Python environment for the mathematical analysis and verification and also test our kinematics code on a prototype build leg.

翻译：运动学分析是多关节机器人的关键组成部分。为数学化地驱动多关节机器人，需要完成相应的数学计算，从而在特定坐标系中确定末端执行器相对于其他连接关节及其各自坐标系的位置。对于行进式四足机器人，需确定其腿部在坐标系中位置的两种运动学类型。正向运动学部分用于测量位置，并可通过逆向运动学计算关节角度。本研究数学分析并推导了四足机器人的正向与逆向运动学，首先在Python环境下使用Jupyter Notebook进行仿真以完成数学分析与验证，随后在原型构建的腿部对运动学代码进行了测试。