Chapter 4: Forward Kinematics

Functions
const arma::mat44	mr::FKinBody (const arma::mat44 &M, const std::vector< arma::vec6 > &Blist, const arma::vec &thetalist)
	Computes forward kinematics in the body frame for an open chain robot. More...
const arma::mat44	mr::FKinSpace (const arma::mat44 &M, const std::vector< arma::vec6 > &Slist, const arma::vec &thetalist)
	Computes forward kinematics in the space frame for an open chain robot. More...

Detailed Description

Function Documentation

FKinBody()

const arma::mat44 mr::FKinBody	(	const arma::mat44 &	M,
		const std::vector< arma::vec6 > &	Blist,
		const arma::vec &	thetalist
	)

Computes forward kinematics in the body frame for an open chain robot.

Parameters

M	The home configuration (position and orientation) of the end-effector
Blist	The joint screw axes in the end-effector frame when the manipulator is at the home position, in the format of a matrix with axes as the columns
thetalist	A list of joint coordinates

Returns

A homogeneous transformation matrix representing the end- effector frame when the joints are at the specified coordinates (i.t.o Body Frame)

FKinSpace()

const arma::mat44 mr::FKinSpace	(	const arma::mat44 &	M,
		const std::vector< arma::vec6 > &	Slist,
		const arma::vec &	thetalist
	)

Computes forward kinematics in the space frame for an open chain robot.

Parameters

M	The home configuration (position and orientation) of the end-effector
Slist	The joint screw axes in the space frame when the manipulator is at the home position, in the format of a matrix with axes as the columns
thetalist	A list of joint coordinates

Returns

A homogeneous transformation matrix representing the end- effector frame when the joints are at the specified coordinates (i.t.o Space Frame)