Abstract
Having the joint variables of a robot, we are able to determine the position and orientation of every link of the robot, for a given set of geometrical characteristics of the robot. We attach a coordinate frame to every link and determine its configuration in the neighbor frames using rigid motion method. Such an analysis is called forward kinematics.
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Jazar, R.N. (2010). Forward Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-1750-8_5
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DOI: https://doi.org/10.1007/978-1-4419-1750-8_5
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