**5. Kinematic analysis of the T-S Robot**

In the boundary of kinematics science, place, speed, acceleration, and all the derivations higher than local variable (in proportion to time) are examined. As defined [2, 8], the robotic kine‐ matics is the study of the robotic movement without the consideration of the forces and torques applied to it. As a matter of fact, the examination of robotic motion geometry is regarded as an invariable coordinate frame work proportional to the intended time.

The kinematics problem includes the following sections [2, 8]:


A systematic, practical approach has been represented by Denavit-Hartenberg to determine rotation and transformation between the two adjacent links in a robot [2].

In this paper, direct kinematics and reverse kinematics are examined through this approach and then position analysis, speed, input, and output acceleration are closely studied. The interesting point is that the direct kinematics of Parallel arms is as complicated as the reverse kinematics of Serial arms and the simplicity of the reverse kinematics of parallel mechanisms is as much as the simplicity of the direct kinematics of Serial arms [2, 5].
