Forward Kinematics of Serial Manipulators

Robot Manipulators

The focus of this module is obtaining the position and orientation of the end-effector of a robot manipulator, with respect to a reference frame, based on the orientations and configuration of the segments that comprise the manipulator. This module introduces the Denavit-Hartenberg convention and parameters that are used to describe these orientations and configurations, and provide a standard approach to forward kinematics. Examples, steps to create MapleSim simulations, and visualization videos are included to enhance the learning experience.

Keywords & Topics:
Robot manipulators, links, joints, Denavit-Hartenberg Convention, Denavit-Hartenberg Parameters
Main Topic: Robot Manipulators

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Maple Document
Explore the theory with textbook descriptions, live math, and interactive components. If you don’t have Maple, you can download the free Maple Player.

Preview the Maple Document

MapleSim Models
Reinforce the concepts and visualize the physical behaviours of the system.

	Preview - 3 Degrees of Freedom Planar Manipulator
	Preview - Stanford Arm

Assessment Questions
Assess student understanding with a set of questions that you can use directly within Möbius Assessment, available from the Maplesoft spin-off company DigitalEd.

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