文章基本信息

标题：A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles
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作者：Fernando Gonçalves ; Tiago Ribeiro ; António Fernando Ribeiro 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2022
卷号：11
期号：1
页码：15
DOI：10.3390/robotics11010015
语种：English
出版社：MDPI Publishing
摘要：Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python.