- Forward kinematics
robotic armwould use forward kinematics to determine the location of the gripper.]
Forward kinematics is computation of the position and orientation of robot's
end effectoras a function of its joint angles. It is widely used in robotics, computer games, and animation. The reverse process is known as inverse kinematics.
For a serial chain of "n" links, and let be the angle of link "i". Given ... , the frame of link "n" relative to link 0 is:
Where is the transformation matrix from the frame of link to link . In robotics, these are conventionally described by Denavit-Hartenberg parameters cite web|url=http://www.learnaboutrobots.com/forwardKinematics.htm|title=Robot Forward Kinematics|author=Learn About Robots|accessdate=2007-02-01] .
Forward kinematic animation
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