{"id":103,"date":"2019-05-28T03:24:02","date_gmt":"2019-05-28T03:24:02","guid":{"rendered":"https:\/\/scholars.spu.edu\/rim\/?page_id=103"},"modified":"2019-06-07T21:44:15","modified_gmt":"2019-06-07T21:44:15","slug":"kinematics","status":"publish","type":"page","link":"https:\/\/scholars.spu.edu\/rim\/kinematics\/","title":{"rendered":"Kinematics"},"content":{"rendered":"\n<div class=\"wp-block-media-text alignwide has-media-on-the-right\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"685\" src=\"https:\/\/scholars.spu.edu\/rim\/wp-content\/uploads\/sites\/18\/2019\/05\/DH-Choords-1.png\" alt=\"\" class=\"wp-image-108\" srcset=\"https:\/\/scholars.spu.edu\/rim\/wp-content\/uploads\/sites\/18\/2019\/05\/DH-Choords-1.png 500w, https:\/\/scholars.spu.edu\/rim\/wp-content\/uploads\/sites\/18\/2019\/05\/DH-Choords-1-219x300.png 219w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"has-large-font-size\">Kinematic Calculations<\/p>\n<\/div><\/div>\n\n\n\n<p>Forward kinematics allows for the calculation of an end-effector position based on known joint angles. Inverse kinematics allows for the calculation of joint angles based on a desired end-effector position in cartesian coordinates. Calculations were done in a series of MATLAB scripts using Denavit-Hartenberg reference parameters and using guidance from Professor Rudy du Preez&#8217;s <a href=\"http:\/\/alvarestech.com\/temp\/RoboAseaIRB6S2-Fiat\/CinematicaExemplosManuaisConfigurador-DH-EMC\/EMC-6-axis-serial-robot-2.pdf\">paper<\/a> on kinematics for robotic arms with six degrees of freedom. Photo credit to Rudy du Preez&#8217;s paper.<\/p>\n\n\n\n<p>MATLAB Files: <a href=\"https:\/\/github.com\/Grant-Kalfus\/RIM_MATLAB_SCRIPT\">here<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Kinematic Calculations Forward kinematics allows for the calculation of an end-effector position based on known joint angles. Inverse kinematics allows for the calculation of joint angles based on a desired end-effector position in cartesian coordinates. Calculations were done in a series of MATLAB scripts using Denavit-Hartenberg reference parameters and using guidance from Professor Rudy du &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/scholars.spu.edu\/rim\/kinematics\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Kinematics&#8221;<\/span><\/a><\/p>\n","protected":false},"author":18,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_exactmetrics_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":""},"class_list":["post-103","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/pages\/103","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/users\/18"}],"replies":[{"embeddable":true,"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/comments?post=103"}],"version-history":[{"count":13,"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/pages\/103\/revisions"}],"predecessor-version":[{"id":482,"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/pages\/103\/revisions\/482"}],"wp:attachment":[{"href":"https:\/\/scholars.spu.edu\/rim\/wp-json\/wp\/v2\/media?parent=103"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}