Author Topic: Forward Kinematics Methods  (Read 1906 times)

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Offline gayesaTopic starter

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Forward Kinematics Methods
« 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?

Offline sdk32285

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Re: Forward Kinematics Methods
« Reply #1 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).
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Offline gayesaTopic starter

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Re: Forward Kinematics Methods
« Reply #2 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 ?
« Last Edit: March 08, 2008, 08:40:31 AM by gayesa »

Offline Admin

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Re: Forward Kinematics Methods
« Reply #3 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

 


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