An articulated 7 DOF robotic arm would use forward kinematics to determine the location of the gripper.

Forward kinematics is computation of the position and orientation of robot's end effector as a function of its joint angles. It is widely used in robotics, computer games, and animation. The reverse process is known as inverse kinematics.

For a serial chain of n links, and let \theta_i be the angle of link i. Given \theta_0 ... \theta_n, the frame of link n relative to link 0 is:

{}^{0}T_n = \prod_{i=1}^n {}^{i - 1}T_i(\theta_i)

Where {}^{i - 1}T_i(\theta_i) is the transformation matrix from the frame of link i to link i-1. In robotics, these are conventionally described by Denavit-Hartenberg parameters ^[1].

References

See also

• Inverse kinematics
• Forward kinematic animation
• Robot control

de:Direkte Kinematik