Forward Kinematics

• Let q be the configuration of manipulator

• (coords in state space. I.e. A vector of all the qi , di )

• Let x be the tip of the manipulator

• (coords in cartesian space + maybe orientation, a 3 or 6-vector)

• For a given manipulator we can write down a closed-form formula for f such that

• x = f (q)

• That's FORWARD KINEMATICS

Notes: