This document discusses forward kinematics for single link, double link, and three link robotic arms as well as SCARA robots. It also provides MATLAB toolbox commands for defining the kinematic chains of different robot configurations and obtaining their transformations.

1. Forward kinematics
BY: Mahmoud Hussein

2. Single link

3. Single link

4. Single link

5. Double link

6. Double link

7. Three link

8. Scara Robot

9. Matlab toolbox command
 syms a1 a2 a3 q1 q2 q3
 trchain2('R(q1) Tx(a1) R(q2) Tx(a2) R(q3) Tx(a3)', [q1 q2 q3])
 trchain2('R(q1) Tx(a1) R(q2) Tx(a2)', [q1 q2])
 trchain2('R(q1) Tx(a1)', [q1])
 mdl_planar3 mdl_planar1 mdl_planar2 mdl_puma560
 p3.teach p1.teach p2.teach p560.teach
 eul2r(q1,q2,q3)
 transl(x,y,z)
 Rpy2tr( , , )
 Roty(angle)