# 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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### How to check reachability of manipulator to a point?

I have written a MATLAB code for inverse kinematics of 3R robotic arm, which returns value of joint angles for given link lengths and end effector position and orientation. But if location of point is ...
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### Optimization of link lengths for 3R serial manipulator

I am trying to formulate an optimization problem for determining link lengths of 3R manipulator shown in picture below, Following are the constraints, Robot arm should be reachable at point x = 100, ...
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### Confusion in fixing DH frames

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and ...
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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 ...
198 views

### Converting product of exponentials from base frame to end-effector frame

This is a homework question from edx course Robot Mechanics and Control, Part II Given the following and expressing its forward kinematics as $T = e^{[S_1]\theta_1} ... e^{[S_6]\theta_6}M$ It is ...
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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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### forward and inverse kinematics of arm

I'm trying to figure out to a problem with a planar manipulator. The manipulator has a base effector and L1 and L2 with 3 joints. Question: INVERSE KINEMATICS Given the ...
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### How to update the cartesian target when the robotic arm has a communication delay?

My robot system uses a 3D mouse to teleoperate the robotic arm's TCP. The robot returns its TCP's position every 10-20 milliseconds to the remote PC. The remote PC returns the new destination based on ...
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### DH Parameters of RRP planar manipulator

I have been learning forward kinematics and having some trouble with coordinate systems and dh parameters with prismatic joints. Trying to work through this question. Trying to work this out I ended ...
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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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### Forward kinematics equations

I'm stuck at computing forward kinematics equations. I have configuration of the first two joints like on the following image: Transformation from the origin to the first joint basis is trivial: ...
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### How to relate forward kinematics into PWM/speed?

I am having a hard time understanding how to relate forward kinematics to things one can control in a robot like PWM and reading encoder values. For example, how to relate the encoder values from ...
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### Programming Forward and Inverse Kinematics of PUMA 560?

I am currently coding a Forward and Inverse Kinematics solver for a PUMA 560 robot. For the Inverse Kinematics part I am using the closed for solution given in this paper. But my issue is, my solution ...
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### Denavit-Hartenberg Humanoid robot

In humanoid robot, Which way we determine DH Parameter: DH parameter for each leg separability. Or, DH-Parameter for two leg together. and if I can calculate from any way, what about trunk how can ...
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### Programming Inverse Kinematics in C++

I want to write my own kinematics library for my project in C++. I do understand that there are a handful of libraries like RL (Robotics Library) and ROS with inverse kinematics solvers. But for my ...
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### How to use RL (Robotics Library) with Xcode?

I came across RL to program robotic manipulators. But according to the website, currently supported websites are Ubuntu and Windows only. Since Ubuntu and Mac OS are based on UNIX kernel, is it ...
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### DH parameters and Kinematic Decoupling

Is it possible to decouple a 5DOF manipulator? This question I asked earlier and I believe I got the right answers but I never show the drawings of the manipulator and now I'm hesitating during setup ...
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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 ...
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### Forward kinematic and inverse kinematic… When to use what?

I am not quite sure if I quite understand the difference between these two concepts, and why there is a difference between these two concept. Yesterday I was trying to compute the jacobian needed ...
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### Denavit Hartenberg parameters - 3DOF articulated manipulator

I am trying to solve a forward kynematics problem for a 3DOF manipulator. I am working with the Robotics Toolbox for MatLab created by Peter Corke and after calculte the DH parameters and introduce ...
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### Forward kinematics of constrained double pendulum

I was wondering whether maybe you could help me with this problem. I have a double pendulum. I have set the origin of cartesian coordinates to be the "head" of the first arm, which is fixed. The end ...
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### DH-Parameters for Forward Kinematics for Translatory Motion only

I am fairly new to the DH-transformation and I have difficulties to understand how it works. Why are not all coordinates (X+Y+Z) incorporated into the parameters? It seems to me that at least one ...
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### Introduction to Robotics Mechanics & Control, John J Craig., 3rd Ed., Forward transformation problem Examples 2.2 and 2.4

I am reading the book "Introduction to Robotics Mechanics & Control", John J Craig., 3rd Ed., Forward transformation problem Examples 2.2 and 2.4. Ex. 2.2 (Page 29): Frame {B} is rotated relative ...
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### DH Forward Kinematics for a Cartesian Robot (CNC Mill)

I am implementing a Denavit-Hartenberg forward transform for a 3-axes CNC mill. I know that the kinematic for such a machine is trivial and doesn't need DH, but I need to make appliable for other ...
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### How to calculate the real time RPM of motor with rotary encoder?

I want to measure the real time RPM of the wheels. I think incremental rotary encoder would be good. But i am confused on how to interface it with DC brushless geared motors. From the images i am not ...
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### How to get the 4*4 matrix from the twist using product of exponentials, in robot kinematics?

In robot kinematics, we have $e^{(\theta*twist)}$, where $twist$ is 6*1 vector. How do I get the 4 by 4 transformation matrix by using product of exponentials?
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### Can a Jacobian be used to determine required joint angles for end effector velocity/position?

I'm in the early stages of working with a simple robot arm, and learning about the Jacobian and inverse kinematics. From my understanding, the Jacobian can be used to determine the linear and angular ...
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### Parameter $r$ of Denavit-Hartenberg

By watching this video which explains how to calculate the classic DenavitāHartenberg parameters of a kinematic chain, I was left with the impression that the parameter $r_i$ (or $a_i$) will always be ...
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### 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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### Denavit-Hartenberg parameters for SCARA manipulator

I'm going through the textbook Robot Modeling and Control, learning about the DH convention and working through some examples. I have an issue with the following example. Given below is an image of ...
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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....
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### Denavit-Hartenberg convention

There are two different conventions that can determine DH parameters. What is the difference between Craig's [1, Sec 3.4] convention and the Spong [2, Sec. 3.2] convention? I know that both methods ...
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### Is configuration space same as joint space?

For robotic manipulator like the one on the picture: are the configuration space and joint space equivalent? I am trying to understand difference between the two...
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### How to correctly compute direct kinematics for a delta robot?

I'm trying to put together a simple simulation for a delta robot and I'd like to use forward kinematics (direct kinematics) to compute the end effector's position in space by passing 3 angles. I've ...
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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 ...