User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
74














−
=Τ
1000
00s-
0100
00s-c
66
66
6
5
c














−
=Τ
1000
00s
L100
00s-c
77
7
77
7
6
c
The the forward kinematics are determined for any joint on the robot by mulitplying all of the
joint transforms up to and including the final joint. To determine the end tip location and
orientation use the following equation:
7
6
6
5
5
4
4
3
3
2
2
1
1
0
7
0
ΤΤΤΤΤΤΤ=Τ
Equation 14:
End tip position and orientation equation