Computer Vision News 10 lengths assignments that are essential to find the forward kinematics. The lengths depicted on the right photo are: L1 = 0.08945, L2 = 0.1, Lm = 0.035, L3 = 0.1, and L4 = 0.08605. For our robot arm that we use for this lesson, the screw axis of each joint expressed in the base frame in the robot’s zero position (see Fig. 3 for link lengths and screw axes assignments) are as follows: and thus, can be written as the following equation using the Product of Exponentials PoE formula: Where, q1, q2, q3, and q4 are joint angles, and is the end-effector configuration when the robot is at its zero position and for our robot arm it is represented by the following matrix: The Space Jacobian of this robot can be expressed as: Where and can be calculated using the following equations: Lessons in Robotics
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