Forward kinematics means having the joint variables of a robot, we are able to determine the position and orientation of every link of the robot, including the end-effector. We attach a coordinate frame to every link and determine its configuration in the neighbor frames using rigid motion method. The analysis of determination of position and orientation of all links of a robot relative to each other is called forward kinematics. However, the first job of forward kinematics is to determine the position and orientation of the end-effector in base coordinate frame.
Forward kinematics is determination of the configuration of every link, specially the end-effector, coordinate frame in the base coordinate frame of a robot when the joint variables are given. For an n-link serial robot, it is equivalent to finding the transformation matrix 0Tn as a function of joint variables qi. There is a special rule for installing the coordinate frames attached to each robot’s link called the standard Denavit–Hartenberg (DH) convention. Based on the DH rule, each transformation matrix i−1Ti from the coordinate frame Bi to Bi−1 can be expressed by four parameters: link length ai, link twist αi, joint distance di, and joint angle θi.
Forward Kinematics
Theory of Applied Robotics ; Chapter : 5 ; 225-311
2021-12-08
87 pages
Article/Chapter (Book)
Electronic Resource
English
Springer Verlag | 2022
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