© The Author(s), under exclusive license to APress Media, LLC, part of Springer Nature 2023
F. FrigeniIndustrial Robotics ControlMaker Innovations Serieshttps://doi.org/10.1007/978-1-4842-8989-1_3

3. Forward Kinematics

Fabrizio Frigeni1  
Shanghai, China

There are two fundamental functions in a robot’s kinematic model: the forward transformations and the inverse transformations. The forward operation, also often called direct transformations, is the process of calculating the position and orientation of the TCP given the current values of the joint axes. The inverse operation, as the word suggests, is the opposite process: calculate the values of the joint axes given the current TCP pose.

We are now going to derive in detail both the forward ...

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