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Independent position variables - PowerPoint PPT Presentation

Kinematics

Amirkabir University of Technology Computer Engineering & Information Technology Department. Kinematics. Time to Derive Kinematics Model of the Robotic Arm. Direct Kinematics. Where is my hand?. Direct Kinematics: HERE!. Kinematics of Manipulators. Objective:

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Forward Kinematics

Forward Kinematics. Forward Kinematics. Focus on links chains May be combined in a tree structure. Degrees of Freedom Number of independent position variables (i.e. joints ). Joints 1 Degree of Freedom Rotation or Translation. Pose

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Independent position variables - PowerPoint PPT Presentation

Kinematics

Forward Kinematics