Forward kinematics

[
DOF robotic arm would use forward kinematics to determine the location of the gripper.]

Forward kinematics is computation of the position and orientation of robot's end effector as 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 $heta\_i$ be the angle of link "i". Given $heta\_0$ ... $heta\_n$, the frame of link "n" relative to link 0 is:

:$\{\}^\{0\}T\_n\; =\; prod\_\{i=1\}^n\; \{\}^\{i\; -\; 1\}T\_i(\; heta\_i)$

Where $\{\}^\{i\; -\; 1\}T\_i(\; heta\_i)$ is the transformation matrix from the frame of link $i$ to link $i-1$. 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] .

References

ee also

* Inverse kinematics
* Forward kinematic animation
* Robot control