Chapter 3: Forward Kinematics

Chapter 3: Forward Kinematics

📽️ Estimated Time: 5–6 hours of video lectures + 10–15 hours of study and exercises

This chapter delves into forward kinematics, a core concept in robotics that maps joint parameters to end-effector positions. Students will explore both classical and modern approaches, compare their advantages, and apply them through practical programming examples.

🔹 Denavit-Hartenberg (D-H) Convention

• Quick illustrative example to demonstrate usage

• Discussion of limitations and when to avoid D-H

🔹 Product of Exponentials (PoE) Method

• Understanding the Base Frame and Space Frame

• Transformations between different frames

• Advantages of PoE over traditional methods

🔹 Hands-on Practice

• Conceptual exercises for solidifying the mathematical foundation

• Programming example using the UR5 robot arm

🔹 Mini Project

• Implement forward kinematics for a generic robotic arm

• Code, visualize, and validate the results