Kinematics & Dynamics — Theory to Simulation in ROS 2 Python with the UR Robot |《运动学与动力学 —— 从理论到 ROS 2 Python 仿真（UR 机械臂实例）》
This two-part series covers robotics kinematics end to end. Part one reviews a course that derives rotation matrices, DH parameters, forward/inverse kinematics, Jacobians, trajectory planning, and Newton-Euler/Lagrangian dynamics — each verified live on a UR robot in RViz via ROS 2 Python. Part two is the practical "step zero": installing ROS 2, building a workspace and package, writing a minimal DH-based forward-kinematics node, and troubleshooting common setup pitfalls like sourcing and distro mismatches. 本系列共两篇，完整覆盖机器人运动学。第一篇测评一门课程：从旋转矩阵、DH 参数、正逆运动学、雅可比矩阵，到轨迹规划与牛顿-欧拉/拉格朗日动力学，每一步都在 UR 机械臂上通过 ROS 2 Python 于 RViz 中实时验证。第二篇是实操"第零步"：安装 ROS 2、搭建工作空间与功能包、编写基于 DH 参数的最小正运动学节点，并排查环境变量与发行版不匹配等常见配置陷阱。
