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Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

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41.1.2 Kinematics

· Forward kinematics involves finding the endpoint of the robot (xT, yT) given the joint coordinates (theta1, theta2)

· There a number of simple methods for finding these transformations,

1. - basic geometry
2. - transformation matrices
3. - Denavit-Hartenberg transformations

41.1.2.1 - Geometry Methods for Forward Kinematics

41.1.2.2 - Geometry Methods for Inverse Kinematics