Forward kinematics is the problem of finding the pose of the robot given a configuration (joint angles). You can read about forward kinematics in Section 4 of the RCFS documentation.
The goal of this exercise is to implement a forward kinematics function for the manipulator shown on the right. The pink circle will be used to represent the end-effector of the robot.
If the forward kinematics function is correctly implemented, this pink circle should coincide with the end-effector of the robot. You can move the robot joints by hovering the mouse over each joint and using the mousewheel and/or the touchpad.
fkin represents the forward kinematics function taking the current joint angles
x and problem parameters class
param as inputs and outputs a 2 dimensional vector representing the 2D position of the end-effector.
f=np.zeros(2) and if you run the code in the Question tab, you will see that the pink object appears at the base of the robot, at coordinates (0,0).
Note that the
param class has attributes such as the number of joints (
param.nbVarX) and the link lengths (
param.l) that you can use to test your code.