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.


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    Title :

    Forward Kinematics


    Contributors:

    Published in:

    Theory of Applied Robotics ; Chapter : 5 ; 225-311


    Publication date :

    2021-12-08


    Size :

    87 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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