### 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…

### Screws: a Geometric Description of Twists in Robotics

In the previous lesson, we learned about velocities in robotics. We became familiar with angular and linear velocities and saw that stacking them together gives us the twist. We also saw how we could change the frame of reference for angular velocities and twists. This lesson is about screws as a geometric interpretation for twists and how they can be used to express configurations in robotics. This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the configurations,…

### Velocities in Robotics: Angular Velocities & Twists

In the previous lesson, we saw an introduction to screw theory and its applications in robotics. We saw that integrating a constant twist over time gives us the configuration. We also became familiar with the exponential coordinates of robot motions, and we saw that in order to define the screw axis, we need to understand angular and linear velocities. In this lesson, we will become familiar with the concept of velocities in robotics, and we will study angular velocities and twists. This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete…

### Screw Motion and Exponential Coordinates of Robot Motions

This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the configurations, velocities, and forces causing the motion, please read the following lessons (note that more lessons will be added in the future): https://www.mecharithm.com/category/fundamentals-of-robotics/fundamentals-of-robot-motions/ Also, reading some lessons from the base lessons of the Fundamentals of Robotics course are deemed invaluable. In this lesson, we will see an introduction to screw motion in robotics, and we will also see how we can define exponential coordinates for robot motions. This is…