Forward Kinematics in Robotics Using Screw Theory

Forward Kinematics in Robotics Using Screw Theory

Can you recall a time when you were frustrated when attempting to compute the forward kinematics for robotic systems? Did you find it frustrating to assign coordinate frames to each link when robots become more sophisticated?  The frustration caused by assigning coordinate frames for each link while solving the forward kinematics of robotic systems using methods like Denavit-Hartenberg is REAL. If your answer to these questions is yes, and you're tired of cumbersome methods like Denavit-Hartenberg to calculate the forward kinematics of robotic chains, this lesson is for you.  The Denavit-Hartenberg is one of the methods to derive the forward…
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Task Space and Workspace for Robots

Task Space and Workspace for Robots

In this post, you will learn about the task space and workspace for robots and understand their difference with the robot's C-space. You can find a comprehensive post about the C-space of the robot HERE. โš ๏ธ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. We saw before that the robot's C-space is the space of all possible configurations of a robot. But what does task space and workspace mean for robots? If you want to learn about task space and workspace,…
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