$$ \newcommand{\R}{\mathbb{R}}
\newcommand{\N}{\mathbb{N}}
\newcommand{\Z}{\mathbb{Z}}
\newcommand{\C}{\mathbb{C}}
\newcommand{\dx}{\text{ dx}}
\newcommand{\rang}{\text{rang}}
\newcommand{\s}{\ \ \ \ \ \ }
\newcommand{\arrows}{\s \Leftrightarrow \s}
\newcommand{\Arrows}{\s \Longleftrightarrow \s}
\newcommand{\arrow}{\s \Rightarrow \s}
\newcommand{\c}{\bcancel}
\newcommand{\v}[2]{
\begin{pmatrix}
#1 \\
#2 \\
\end{pmatrix}
}
\newcommand{\vt}[3]{
\begin{pmatrix}
#1 \\
#2 \\
#3 \\
\end{pmatrix}
}
\newcommand{\stack}[2]{
\substack{
#1 \\
#2
}
}
\newcommand{\atom}[3]{
\substack{
#1 \\
#2
}
\ce{#3}
}
$$
Forward Kinematics
Forward kinematics describes how motion of the joints affects motion of the robot end-effector.
There is no standard way to place frames.
Placing Frames
![forward-kinematics.png](../../images/forward-kinematics.png)
$$ >^0_3T =\ ^0_1T\ ^1_2T\ ^2_3T >$$