This block computes the forward kinematics for a robot in a certain configuration. Joint coordinates are received as input and a homogeneous tranform for the location of the end-effector is returned as output.
This block has one regular input. It represent a set of joint coordinates and therefore the number of its elements must equal the number of robot's consituent links.
This block has one regular output.
You can specify as block parameter the robot model robot for which you want compute forward kinematic.
|Robot forward kinematics|
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32