# Questions tagged [forward-kinematics]

Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters

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### Calculate position of differential drive robot

How do you calculate or update the position of a differential drive robot with incremental sensors? There is one incremental sensor attatched to each of the two differential wheels. Both sensors ...
6k views

### Forward Kinematics/D-H parameters for perpendicular joint axes

I am trying to compute forward kinematics of the Kuka youBot using DH convention: http://www.youbot-store.com/youbot-developers/software/simulation/kuka-youbot-kinematics-dynamics-and-3d-model The ...
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### Getting pitch, yaw and roll from Rotation Matrix in DH Parameter

I've calculated a DH Parameter matrix, and I know the top 3x3 matrix is the Rotation matrix. The DH Parameter matrix I'm using is as below, from https://en.wikipedia.org/wiki/Denavit%E2%80 Above is ...
2k views

### How do I convert link parameters and angles (in kinematics) into transformation matrices in programming logic?

I'm doing robotics research as an undergraduate, and I understand the conceptual math for the most part; however, when it comes to actually implementing code to calculate the forward kinematics for my ...
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### Using pre multiply or post multipy for rotational matrix to get a new homogenous transformation matrix?

I am confused about how do I multiply the rotational matrix in this case. I know that both T1 and T2 needs to be multiplied by a rotational matrix but I don't know how to multiply the rotational ...