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Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters.〔 〕 The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process that computes the joint parameters that achieve a specified position of the end-effector is known as inverse kinematics. ==Kinematics equations== The kinematics equations for the series chain of a robot are obtained using a rigid transformation () to characterize the relative movement allowed at each joint and separate rigid transformation () to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link, : where () is the transformation locating the end-link. These equations are called the kinematics equations of the serial chain.〔 J. M. McCarthy, 1990, ''Introduction to Theoretical Kinematics,'' MIT Press, Cambridge, MA.〕 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「forward kinematics」の詳細全文を読む スポンサード リンク
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