Kinematic Model(Direct Transformation)

• Composition of frames translation and rotation
• Direct Transformation is a Homogeneous Matrix

1. Forward Kinematic Steps

2. Base Frame and Toll

3. Adding a tool

4. Mechanical Coupling

• some joint axes are mechanically “Coupled”
• Ex) there are two J1, J2 and if they are not coupled when J1 moved, J2 is staying joint value
• Input to Forward Kinematics is position of Real Joints
• Motor Encoder position must be adjusted