# Forward kinematics

Forward kinematics

[
DOF robotic arm would use forward kinematics to determine the location of the gripper.]

Forward kinematics is computation of the position and orientation of robot's end effector as a function of its joint angles. It is widely used in robotics, computer games, and animation. The reverse process is known as inverse kinematics.

For a serial chain of "n" links, and let $heta_i$ be the angle of link "i". Given $heta_0$ ... $heta_n$, the frame of link "n" relative to link 0 is:

:$\left\{\right\}^\left\{0\right\}T_n = prod_\left\{i=1\right\}^n \left\{\right\}^\left\{i - 1\right\}T_i\left( heta_i\right)$

Where $\left\{\right\}^\left\{i - 1\right\}T_i\left( heta_i\right)$ is the transformation matrix from the frame of link $i$ to link $i-1$. In robotics, these are conventionally described by Denavit-Hartenberg parameters cite web|url=http://www.learnaboutrobots.com/forwardKinematics.htm|title=Robot Forward Kinematics|author=Learn About Robots|accessdate=2007-02-01] .

References

ee also

* Inverse kinematics
* Forward kinematic animation
* Robot control

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