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Cθi −Cαi Sθi Sαi Sθi ai Cθi
Sθi Cαi Cθi −Sαi Cθi ai Sθi
=⇒i−1 Ti =
(2)
0 Sαi Cαi di
0 0 0 1
note that the subscript denotes the current frame whilst the superscript denotes the
reference frame
Forward Kinematics
I Given joint variables
I End-effector position and orientation
Homogeneous Transformation Matrix
I specifies the location of the ith coordinate frame w.r.t. the base
coordinate system
I chain product of successive coordinate transformation matrices
of i−1 Ti
0
Tn =0 T1 1 T2 2 T3 3 T4 . . .n−1 Tn (3)
I Equation (3) gives the position and orientation of the
end-effector frame expressed in the base coordinates.