Solve Direct Kinematics for a 6 DOF arm - LCAS/RBT1001 GitHub Wiki

Arm with Spherical wrist

Given the following specifications for a 6 DOF robot arm with spherical wrist

:arrow_forward: :page_facing_up::writing_hand: derive the sequence of homogeneous transformations to represent the direct kinematics from the robot base to the end-effector.

based on : https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.6-mecharm_270/2.6.2.1%20%20Introduction%20of%20product%20parameters.html