10. Forward and Inverse Kinematics

Try these first

1. 1.

   What does forward kinematics compute?

   Hint

   Think about where the robot's end should be!

2. 2.

   Define degrees of freedom in the context of robotics.

   Hint

   How many unique movements can your robot perform?

3. 3.

   What does inverse kinematics help us determine?

   • The end-effector position
   • The joint parameters for a desired position
   • The robot's speed

   Hint

   Consider what is needed to get to a specific target.

4. 4.

   True or False: Forward kinematics can have multiple solutions.

   • True
   • False

   Hint

   Think about how joint parameters dictate a deterministic outcome.

5. 5.

   You are designing a robotic arm with 6 DOFs. Outline how you would calculate its FK using D-H parameters and illustrate it through a sample configuration.

   Hint

   Visualize each joint's movement and how that contributes to the end location.

6. 6.

   Design a scenario requiring IK for a 3-DOF manipulator and describe how you would approach finding joint angles for a specific target position.

   Hint

   Think about the relationships between your desired position and the lengths of each segment.