We present here the concept of frames and their operations. Frames are the geometrical foundation of robotic arms, and understanding how to handle them is an important step toward solving kinematic models. The framework we present has general validity, regardless of the robotic structure we need to solve.
Reference Frames
A frame is essentially a coordinate system with a specific position and orientation (see Figure 2-1). When describing the position of a generic point in space, we always ...
