Abstract
Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python.
Highlights
The control of robotic manipulators is strongly linked to the study of their motion.Forward kinematics refers to the process of determining the position and orientation of a robotic end effector with known joint parameters [1]
To fully describe and validate this methodology, the paper is structured as follows: in Section 2 a Literature Review is provided, where several methods for the 3D representation of rotations are listed and described, followed by a justification of the choice of method for this paper; Section 3 presents, formulates, explains and describes the recursive algorithm developed in this paper, dividing it into three simple steps; Section 4 provides an example of application of this methodology, using it to build a 3D model of the CHARMIE mobile manipulator, defining the robot and explaining how the modeling of some of its particularities was dealt with; Section 5 finishes the paper discussing results and commenting on possible future works
The forward kinematic analysis can be tackled as a matter of obtaining the 3D configuration of a group of bodies from a set of known conditions
Summary
The control of robotic manipulators is strongly linked to the study of their motion. Forward kinematics refers to the process of determining the position and orientation of a robotic end effector with known joint parameters [1]. To fully describe and validate this methodology, the paper is structured as follows: in Section 2 a Literature Review is provided, where several methods for the 3D representation of rotations are listed and described, followed by a justification of the choice of method for this paper; Section 3 presents, formulates, explains and describes the recursive algorithm developed in this paper, dividing it into three simple steps; Section 4 provides an example of application of this methodology, using it to build a 3D model of the CHARMIE mobile manipulator, defining the robot and explaining how the modeling of some of its particularities was dealt with; Section 5 finishes the paper discussing results and commenting on possible future works
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
