Forward kinematics

Question 1

What is the purpose of forward kinematics

Answer 1

Given the joint variables and dimensions, we find the position and orientation of the end effector

Question 2

For what does a transformation matrix consist of?

XZX convention

Answer 2

Rot X x TransX x RotZ x TransZ

Question 3

What do the DH parameters a, å, ø and d mean

Answer 3

ai - distance from Zi to Zi+1 measured along Xi
åi - angle from Zi to Zi+1 measured about Xi
di - distance from Xi-1 to X measured along Zi
øi - angle from Xi-1 to Xi measured about Zi

Question 4

How do we assign the axis of each frame?

Answer 4

Z - axis of rotation(revolute) or axis of translation(prismatic)
X - perpendicular to current and previous Z axis
Y- assigned to complete right hand axis system