As promised in the previous article.
Let’s look at direct kinematics. 
Where 
– translation matrix with respect to a axis, and 
– rotational matrix with respect to a axis.
H – homogeneous transformation matrix, which contains the position and rotation of the endpoint in global coordinates. (
is already included in 
because there is no difference where 
is located on this link)
With direct kinematics for an ordinary manipulator, everything is pretty simple. And what about the inverse? At a minimum, it’s worth to repeat that it is ambiguous. Let’s start with the two-links manipulator.
In the last article I have already described which question answers direct kinematics, and now we will look at examples of how to do this.
How to find the end position for 2-links manipulator? Geometry will tell! Obviously:
Continue reading “Direct kinematics of 2-3-6-n-links manipulator”