ZeqKinematics

Kinematics, SLAM, manipulation, swarm, PID.

• Protocol ID — zeq-kinematics
• Category — Robotics
• Endpoint — POST /api/robotics/kinematics
• Auth — api-key
• Rate limit — 30/min
• Version — 1.287.0
• Precision — ≤0.1% (KO42-enforced)

What it does

Forward/inverse kinematics with HulyaPulse timing. DH parameter chains up to 12-DOF, singularity avoidance, workspace analysis with R(t) joint trajectory smoothing.

Signature

Request

POST /api/robotics/kinematics

Param	Type	Required	Default	Description
dhParams	array	✓	—	Denavit-Hartenberg parameters [{ a, alpha, d, theta }].
mode	string		"forward"	'forward' or 'inverse'.
target	object		—	Target pose { x, y, z, rx, ry, rz } for inverse.

Response

{ pose, jointAngles, jacobian, singularityDistance, reachable, zeqond }

Runnable example

curl -sS -X POST \
  -H "Authorization: Bearer $ZEQ_API_KEY" \
  -H "Content-Type: application/json" \
  -d '{
  "dhParams": [],
  "mode": "forward",
  "target": {}
}' \
  "https://api.zeq.dev/api/robotics/kinematics"

Integrate

1. Domain solver — compose with KO42 + two additional operators from the matching family for pulse-coherent results.
2. Digital twin — pipe sensor data into this protocol every Zeqond to keep the model phase-locked with the system.
3. Alert threshold — flag results whose error_pct exceeds 0.1% as out-of-spec events for the operations layer.

Seeds

• Near — wrap /api/robotics/kinematics in a language SDK so builders can call it in three lines.
• Medium — publish a reference integration demonstrating ZeqKinematics alongside a real workload, with pulse-aligned metrics.
• Far — propose ZeqKinematics as an open reference standard so other runtimes can implement it verbatim against the Zeq paper.

Papers

• Zeq paper — https://doi.org/10.5281/zenodo.18158152
• Framework paper — https://doi.org/10.5281/zenodo.15825138

Middleware active. Kernel on the 1.287 Hz HulyaPulse. Awaiting next Zeqond.