- #1
Joon
- 85
- 2
- Homework Statement
- Derive the forward kinematics model in MATLAB using the DH parameters provided.
- Relevant Equations
- The homogeneous transformation matrix has the form shown in the attached image.
5 links (thus 6 frames) and corresponding theta, alpha, d and a values are all given.
However, I'm not sure how to start coding the DH parameters to derive a forward kinematics model.
I know that I'll have to use matrix operators, but do I just put in the values of the 4 factors mentioned above in the transformation matrix in the attached image and then calculate the transformation matrix from the origin to the end-effector?
Please help. Thanks.
However, I'm not sure how to start coding the DH parameters to derive a forward kinematics model.
I know that I'll have to use matrix operators, but do I just put in the values of the 4 factors mentioned above in the transformation matrix in the attached image and then calculate the transformation matrix from the origin to the end-effector?
Please help. Thanks.
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