Teaching kinematics with interactive schematics and 3D models

In this paper, some computer applications for teaching forward and inverse kinematics in Robotics are presented. These applications, developed in Unity3D and Python, allow both teachers and students to create and manipulate 3D interactive representations of the studied robotic models. The use of these tools has been proved to help students improve their understanding of the geometric transformations and mathematical operations required to solve both forward and inverse kinematics exercises.