Process

Forward kinematics

You might say: FK

Forward kinematics computes the tool pose from the joint coordinates by composing one transform per joint.

What it does

It predicts where the tool is for sensing, visualization and control.

Ask

Which frame and parameter convention defines each joint transform?

Catalogue: Convention

• Denavit–Hartenberg (DH): Denavit–Hartenberg assigns four parameters to each link-to-link transform: a, alpha, d and theta.
• Product of exponentials (PoE): Product of exponentials uses one screw axis per joint and multiplies joint exponentials with a home configuration.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 4 §§4.1–4.3For an open chain, the position and orientation of the end-effector are uniquely determined from the joint positions. The forward kinematics problem is to find the position and orientation of the reference frame attached to the end-effector given the set of joint positions.

Use it on your project

teardown-apply: hold "Forward kinematics" (forward-kinematics) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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