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.

Dialog Box

Robot forward kinematics
Robot object rt_robot()

Default Properties

Interfacing Function

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Computational Function (type 5)

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See Also

rt_jacob0_if,  rt_fkine,  


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

Matteo Morelli - Interdepartmental Research Center "E. Piaggio", University of Pisa, April 2007
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