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Mechanics and Construction => Mechanics and Construction => Topic started by: gayesa on March 07, 2008, 02:43:46 PM

Title: Forward Kinematics Methods
Post by: gayesa on March 07, 2008, 02:43:46 PM

What are the alternative methods for forward kinematic conventions apart from D-H conventions?

I have searched various links but most of them proposes D-H one

Can you help me?

Title: Re: Forward Kinematics Methods
Post by: Kohanbash on March 07, 2008, 05:03:32 PM

D-H is what you want if you are solving it by hand (lots of crazy linear algebra). If you are using a computer you want to use the Jacobian Matrix method (still a ton of math but a symbolic solver like mathematica can do a lot of it for you).

Title: Re: Forward Kinematics Methods
Post by: gayesa on March 08, 2008, 07:02:02 AM

actually it is a homework and i couldn't find any alternative method for D-H except only quaternions, is it sufficient ?

jacobean is as far as i know is the velocity kinematic method, isn'i it ?

Title: Re: Forward Kinematics Methods
Post by: Admin on March 09, 2008, 11:08:44 AM

Yea, Jacobeans is for mapping joint velocities . . .

How many joints does the arm have? Another method is just highschool geometry and trig ;D