ZeqKinematics

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

Endpoint	POST /api/robotics/kinematics
Auth	api-key
Rate limit	30/min
Category	robotics

Parameters

Name	Type	Required	Description
dhParams	array	Yes	Denavit-Hartenberg parameters [{ a, alpha, d, theta }].
mode	string	No	'forward' or 'inverse'.
target	object	No	Target pose { x, y, z, rx, ry, rz } for inverse.

Returns

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

Example

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

This protocol is a named building block — one of the operations you compose inside a state contract. Call it directly with the request above, or invoke it from a contract that fires on your machine's clock. Browse the whole library at GET /api/protocols; fetch this one at GET /api/protocols/zeq-kinematics.