Robot Kinematics

— Alexi

Focus of this page

Forward kinematics means:

joint angles  ->  end-effector pose

You already know the robot’s joint configuration.

The question is:

where does the end-effector end up?

For this page I’m only sticking to a planar 3-DOF revolute arm.

Setup

Assume 3 links:

• l_1
• l_2
• l_3

And 3 joint angles:

• theta_1
• theta_2
• theta_3