User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
73
Appendix D - Forward Kinematics
The forward kinematics of the 7-DOF BarrettArm system is used to determine the end tip
location and orientation. Each of the following transforms describes Joint k to Joint k-1. These
transformations are calculated using the parameters in Table 13 and the matrix in Equation 13.














−
=Τ
−−−−
−−−−
1000
ccs
s-cs
a0s-c
111i1i
111i1i
1-iii
1
0
dcss
dscc
iiii
iiii
αααθαθ
αααθαθ
θθ
Equation 13:
Transformation Equation














=Τ
1000
0100
00cs
00s-c
11
11
1
0














−
=Τ
1000
00s-
0100
00s-c
22
22
2
1
c














−
=Τ
1000
00s
L-100
00s-c
33
3
33
3
2
c














−
=Τ
1000
00s-
0100
d0s-c
44
344
4
3
c














−
=Τ
1000
00s
L-100
d-0s-c
55
4
355
5
4
c