Introduction to Robot Kinematics
Notes
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See all →- What are the basic parts of a robot manipulator: links, joints, end effector and workspace? In one line A robot manipulator is a chain of rigid links connected by joints, starting at a fixed base and ending at an end effector that d... 1
- What is degree of freedom of a robot and how is it counted for a serial manipulator? In one line Degree of freedom (DOF) is the number of independent variables needed to fully describe a robot's configuration; for a serial ro... 1
- What is forward kinematics of a robot and how do you find the end-effector position of a 2-link planar arm? In one line Forward kinematics finds the end-effector's position and orientation from known joint variables; for a 2R planar arm it is simpl... 1
- What is a homogeneous transformation matrix and how does it combine rotation and translation? In one line A homogeneous transformation matrix is a 4×4 matrix that rotates and translates a point (or frame) in one multiplication, so suc... 1
- What are Denavit-Hartenberg (D-H) parameters and how are frames assigned to robot links? In one line D-H parameters are four numbers per link ( θ, d, a, α ) that describe how each joint frame is placed relative to the previous on... 1
- How do you find the forward kinematics of a 2-DOF serial robot using D-H homogeneous transformations? In one line Write the D-H table, form each link's transformation matrix, and multiply them; the last column of the result gives the end-effe... 1