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9 lines
424 B
TeX
9 lines
424 B
TeX
\subsection{Forward Kinematics (FK)}
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$T_{WB_n}(\theta) = \mat{T}_{WB_0} \mat{T}_{B_0B_1}(\theta_1) \cdots \mat{T}_{B_{n - 1}B_n}(\theta_n)$.\\
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For 2R system: ${_W}\vec{t}_{WE} = \begin{bmatrix}
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L_1 \cos(\theta_1) + L_2 \cos(\theta_1 + \theta_2)\\
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L_1 \sin(\theta_1) + L_2 \sin(\theta_1 + \theta_2)
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\end{bmatrix}$\\
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With workspace (pos) $W$ for $\theta_1, \theta_2 \in [-\pi, \pi]$
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% TODO: Example? (w02s42 possibly)
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