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Kinematics

The forward kinematic model defines the relation:

$\displaystyle {}^0 \mbox{\boldmath$ T $}_n$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ G(q) $}$ (2.33)

where ${}^0 \mbox{\boldmath$ T $}_n$ is the homogeneous transform representing the position and orientation of the manipulator tool (frame $n$) in the base frame $0$. The inverse kinematic model is defined by
$\displaystyle \mbox{\boldmath$ q $}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ G $}^{-1}({}^0 \mbox{\boldmath$ T $}_n)$ (2.34)

In general, this equation allows multiple solutions.



Richard Gourdeau 2004-07-06