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Forward Kinematics: From Angles to Tip Position
Forward Kinematics: From Angles to Tip Position
How can forward kinematics help us predict and verify where our robot arm tip will land?
Learning Intentions:
Use the forward kinematics formulas to calculate the tip position of a two-joint arm from both joint angles, then verify by programming and measuring.
Today's Concept:
Forward kinematics answers a simple question: given both joint angles, where does the tip end up? The formula combines the contribution of each arm segment: x = L1·cos(θ1) + L2·cos(θ1 + θ2), y = L1·sin(θ1) + L2·sin(θ1 + θ2). Every robot controller runs this calculation continuously.
Today, you predict before you measure. Set joint 1 to 45° and joint 2 to 30°. Calculate where the tip should land. Then program the robot and measure where it actually lands. The gap between prediction and measurement is your first error distance — and your first lesson in why precision matters.
Station 1
Station 1
Explore It – Forward Kinematics
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