Chapter: Mechanical : Robotics : Robot Kinematics And Robot Programming

Differentiate forward and inverse kinematics

Robot arm kinematics deals with the analytic study of the motion of a robot arm with respect to a fixed reference coordinate system as a function of time.

Differentiate forward and inverse kinematics

Forward kinematics:

The transformation of coordinates of the end-effector point from the joint space to the world space is known as forward kinematic transformation.

Reverse kinematics:

The transformation of coordinates from world space to joint space is known as backward or reverse kinematic transformation.

Robot Kinematics:

Robot arm kinematics deals with the analytic study of the motion of a robot arm with respect to a fixed reference coordinate system as a function of time.

The mechanical manipulator can be modelled as an open loop articulated chain with several rigid links connected in seriesatic‘ by join eithers driven revolute‘ by

For a manipulator, (the position and orientation of the end-effector are derived from the given joint angles and link parameters, the scheme is called the forward kinematics problem.

If, on the other hand, the joint angles derived from the position and orientation and the different configuration of the manipulator are of the endeffector, the scheme is called the reverse kinematics problem.

Representing the Position Considering the revolute type of joint only, the position of the end-effector can be represented by the joint angles, 0 02,...,. 0,, as,

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The position of the end-effector can also be defined in world space as,

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Mechanical : Robotics : Robot Kinematics And Robot Programming : Differentiate forward and inverse kinematics |