# Changes between Version 15 and Version 16 of Burt-Research/KinematicsJointRangesConversionFactors

Ignore:
Timestamp:
Apr 16, 2018, 10:33:00 PM (17 months ago)
Comment:

--

### Legend:

Unmodified
 v15 }}} The homogeneous transformation from frame 0 to frame 3 is: The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1. The forward kinematics are determined for any frame on the robot by mulitplying all of the transforms up to and including the final frame. To determine the endpoint location and orientation use the following equation: {{{ #!div class="center" align="center" {{{ #!latex $^{0}T_{3}=^{0}T_{1}^{1}T_{2}^{2}T_{3}^{3}$ }}} '''Equation 3: Tool end tip position and orientation equation for BURT''' }}} {{{ 0 & 0 & 0 & 1\end{array}\right]}}} The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1. The forward kinematics are determined for any frame on the robot by mulitplying all of the transforms up to and including the final frame. To determine the endpoint location and orientation use the following equation: {{{ #!div class="center" align="center" {{{ #!latex^{0}T_{3}=^{0}T_{1}^{1}T_{2}^{2}T_{3}^{3}\$ }}} '''Equation 3: Tool end tip position and orientation equation for BURT''' }}} === Joint Ranges ===