Forward Kinematics of Serial Manipulators – Robot Manipulators – Engineering Education Resources – Maplesoft
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Forward Kinematics of Serial Manipulators

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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.

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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.

View all Robot Manipulators Topics

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