Robotics operators

6 operators in the robotics category of the live registry. Compose them in a contract or call POST /api/zeq/compute — KO42 is always on, plus up to three more per call.

How it computes: dedicated closed-form solver solveStructural — real equations over CODATA-2018 constants; where an operator needs a series/matrix/field a scalar cannot express, it refuses honestly. See the solvers.

Operator	Description	Equation
`FORWARD_KINEMATICS`	Forward kinematics computing end-effector pose by chaining homogeneous transformation matrices along the kinematic chain of a serial manipulator.	`T_n^0 = \prod_{i=1}^n A_i(\theta_i)`
`INVERSE_KINEMATICS`	Resolved-rate inverse kinematics mapping desired end-effector velocity to joint velocities through the inverse of the manipulator Jacobian.	`\dot{\theta} = J^{-1}(\theta) \dot{x}`
`JACOBIAN`	Manipulator Jacobian matrix relating joint-space velocities to task-space velocities through partial derivatives of the forward kinematic map.	`J = \frac{\partial x}{\partial \theta}`
`PATH_PLANNING`	A-star search algorithm finding the shortest path by combining actual cost from start with a heuristic estimate of remaining cost to goal.	`f(n) = g(n) + h(n)`
`TORQUE_DYNAMICS`	Manipulator equation of motion relating joint torques to inertia, Coriolis and centrifugal effects, and gravitational loading in joint space.	`\tau = M(\theta)\ddot{\theta} + C(\theta,\dot{\theta})\dot{\theta} + G(\theta)`
`TRAJECTORY_PLANNING`	Cubic polynomial trajectory interpolation generating smooth joint-space motion profiles satisfying position and velocity boundary conditions.	`\theta(t) = a_0 + a_1 t + a_2 t^2 + a_3 t^3`

Compute one — a real call

Ask the operator which inputs it needs (the honesty contract refuses empty inputs rather than inventing them):

curl -sS -X POST https://zeqsdk.com/api/zeq/operator-spec \
  -H "Content-Type: application/json" \
  -d '{"operator":"FORWARD_KINEMATICS"}'

Compute one — a real call​

See also​

Compute one — a real call

See also