Some notes about Forward and reverse transformations;

1. FORWARD AND REVERSE
TRANSFORMATIONS;
HOMOGENEOUS COORDINATE
REPRESENTATION, HOMOGENEOUS
TRANSFORMATION; KINEMATIC
CHAINS AND FOUR VARIABLES

2.  We will cover
 Forward and reverse transformations
 Homogeneous coordinate representation
 Homogeneous Transformation
 Kinematic Chains and four variables

3. FORWARD AND INVERSE KINEMATICS
 To come up with inverse kinematics equations, we
have to first find the forward kinematics equations
of the robot.
 Forward kinematics: all joints variables including
arm length, angles are known in this case and we
have to determine where the robot’s hand is.
 Inverse kinematics: given the desired position of
the robot’s hand, what must be the angles at all of
the robots joints

4. FORWARD KINEMATICS AND REVERSE
KINEMATIC

5. EXAMPLE OF FORWARD KINEMATICS

6. EXAMPLE OF INVERSE KINEMATICS

8. Thank you