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Forward Kinematics

  • Reza N. Jazar

Abstract

A series robot with n joints will have n +1 links. Numbering of links starts from (0) for the immobile grounded base link and increases sequentially up to (n) for the end-effector link. Numbering of joints starts from 1, for the joint connecting the first movable link to the base link, and increases sequentially up to n. Therefore, the link (i) is connected to its lower link (i − 1) at its proxi7nal end by joint i and is connected to its upper link (i + 1) at its distal end by joint 2 + 1, as shown in Figure 5.1.
Figure 5.1.

Link (i) and its beginning joint i − 1 arid its end joint i.

Keywords

Transformation Matrix Coordinate Frame Revolute Joint Joint Variable Rest Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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