Compute end-effector pose from joint angles using DH parameters.
FK computes end-effector pose from joint variables: assign link frames by Denavit-Hartenberg parameters (a, α, d, θ) and multiply transforms. For a 2-link planar arm: x=l₁cosθ₁+l₂cos(θ₁+θ₂), y=l₁sinθ₁+l₂sin(θ₁+θ₂). Straightforward and unique.
With l₁=l₂=1 m, θ₁=30°, θ₂=45°: x≈1.12 m, y≈1.26 m.
Forward kinematics computes where the tool is from the joint angles, which is needed to predict motion and to check collisions.
Compute end-effector pose from joint angles using DH parameters.
Forward kinematics computes where the tool is from the joint angles, which is needed to predict motion and to check collisions.
A standard set of four parameters per joint that describe link length, twist and offsets, giving a systematic way to build the forward kinematics chain.
It is a direct calculation from the joint angles with one unique result for each set of angles.
Typical applications include calculating the tool position from measured encoder angles, checking the reach of a planar two-link arm and simulating the motion of a robot before programming it.
Study "Homogeneous transformations" first (topic 55 of 102 in Manufacturing, Robotics & Systems). It covers the groundwork this topic builds on.
DH convention. Planar and spatial arms. Forward map is single-valued.
With l₁=l₂=1 m, θ₁=30°, θ₂=45°: x≈1.12 m, y≈1.26 m.
The next topic is "Inverse kinematics", which builds directly on this one.
It is classed as Intermediate in Manufacturing, Robotics & Systems (topic 56 of 102). It is an intermediate topic. Work through the beginner topics in Manufacturing, Robotics & Systems first.
Want to practise? Open the interactive course for quick checks, quizzes, simulations and progress tracking.