Forward Kinematics

Forward kinematics is the process of determining the position and orientation of the end-effector of a robotic manipulator based on given joint parameters, typically angles or displacements. This computation is performed using transformation matrices that represent the geometric relationships between the joints and links of the manipulator. The Denavit-Hartenberg convention is often employed to systematically define these transformations, allowing for the sequential calculation of the end-effector's pose in Cartesian coordinates. Forward kinematics is fundamental in robotics, enabling the prediction of the manipulator's configuration in response to joint movements and serving as a basis for control algorithms that guide robotic actions.