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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Inferring joint orientation on multi-joint arm

Not a robotics question in the strictest sense, I guess, but related closely enough, I hope: I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
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How do CAD programs solve for Inverse/Forward Kinematics problem in Assembly?

I am trying to solve for the Forward kinematics of a spatial parallel manipulator. Its loop closure (LC) equations are pretty long, and are being solved using numerical methods. As I am adding more ...
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Help with 2D forward kinematics

I have been trying to find the HTM of a 2-DOF arm in 2D by finding the rotation matrices and displacement vectors by hand rather than use DH parameters to better understand them. I have followed the ...
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1answer
56 views

Verifying DH parameters. Unexpected Output

There is a rotating base joint #1 with z/joint axis pointing up and atop sits and arm with 3 z/joint axis facing away from the viewer. The elbow joint F2 has a kink before it of 90 degrees measuring ...
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29 views

Formulas for calculating the passive joints angular velocities

We have the following parallel robot architecture: Positions of the vectors $u_i, v_i, w_i$, the angles $\theta_i$, angular velocity $\dot{\theta_i}$ and the Jacobian $J$, that mapping vector of ...
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Find the kinematic parameters using DH by Craig convention

I am trying to find the kinametic parameters using the J. Craig of the DH parameters for the following 2-DOF robotic manipulator. where $\ x,y $ are the axes of the reference frame and $\ q_1 , q_2 $...
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58 views

Using gyroscope to calculate forward kinematics

I want to measure the end-effector position of the robot that I attached. I'm using both gy-25 and gy-521 for calculation of the angle. As shown in the picture, joint 1 has 2 DOF, one for spatial ...
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854 views

DH parameters for lynx robot

Can anyone help me out with DH parameters and axis placement for below kinematic chain?
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598 views

Forward kinematics on Stanford manipulator

I recently had an exam in robotics and one of the questions was about forward kinematics on the Stanford manipulator below. The DH parameters were given and we were asked to calculate the angular ...
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Get the arm joint angles with kinect 1

I am Carlos Barreiro and I am studying a Robotics Master. Now I am working with my Thesis. The project consists in the teleoperation of the a robot with Kinect (model 1). More specifically, I am ...
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21 views

DH-paramteres almost correct but problems finding the mistake

We have made analysis of a robot. This robot when analysed for dh-parameters gives us this dh parameter. When we compute it in matlab we get and we chose the angles (10,20,30,40,50,60) we get this ...
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33 views

What do I need to know about the dynamics of an industrial robot?

Apart from kinematics, what do i need to know about the dynamics and other things of a robot in order to calculate the angles of the joints for positions of the end effector exactly? that means: if i ...
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FlexiTimer giving errors in servo motion

I am working on a quadruped bot, spiderbot and I am trying to make a creep gait using Forward kinematics however, for some reason my code stops working after the execution of the line - ...
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23 views

KUKA KR6 R900 sixx (Agilus) robot - Space frame screw axis

how do I find the space (and body) frame screx axis (s1..s6) of this agilus robot?
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1answer
262 views

DH Parameter for OpenManipulator X from Robotis

I try to solve forward kinematics problem for OpenManipulator X from Robotis by using standard DH convention. The figure and dimension of the robot like this pic I try to find DH parameter and got ...
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1answer
114 views

Humanoid Robot Arm

I have a modeling design for Humanoid robot arm in simscape-SimMechanics in Matlab, I am trying to use the inverse kinematic to make a reaching movement for the arm to the target position; however, I ...
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How to calculate robot hand positions using Roll, Pitch angles

i want to calculate humanoid robot hand position with given shoulder roll, pitch angles and elbow roll angle. I'm able to calculate elbow position using rotation matrix which includes shoulder angles....