There are two fundamental functions in a robot’s kinematic model: the forward transformations and the inverse transformations. The forward operation, also often called direct transformations, is the process of calculating the position and orientation of the TCP given the current values of the joint axes. The inverse operation, as the word suggests, is the opposite process: calculate the values of the joint axes given the current TCP pose.
Forward Kinematics
Mak. Innov. Ser.
2022-12-28
25 pages
Article/Chapter (Book)
Electronic Resource
English
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