A reversed recursive formula, based on coordinate transformation using matrix operation is developed for autonomous positioning of end effector while deploying an articulated robotic arm. Kinematics of 3-D translation of a robotic arm may be solved by using this approach rather than a traditional geometric or trigonometric analysis.
['Hsiang-Lin Tu', 'Ping-Ho Chen']
Reversed Recursive Transformation for Forward Kinematics of Articulated Robotic Arms