Forward Kinematics

• Computational procedures which determine where the End-effector of a robot is located in space. The procedures use mathematical algorithms along with joint sensors to determine its location.
• 1. For a robot with n joints, what is the endeffector pose (ξ ), given the joint angles (q)
  • ξ = κ(q) : q = {qi,i ∈ [1,…,n]},