Solve Direct Kinematics for a 6 DOF arm

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francescodelduchetto edited this page Feb 20, 2025 · 4 revisions

Arm with Spherical wrist

Given the following specifications for a 6 DOF robot arm with spherical wrist

▶️ 📄✍️ derive the sequence of homogeneous transformations to represent the direct kinematics from the robot base to the end-effector.

based on : https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.6-mecharm_270/2.6.2.1%20%20Introduction%20of%20product%20parameters.html

Credits

Parts for the workshops are extracted, edited from and/or inspired by the following sources.

Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/