Forward Kinematics in Robotics Using Screw Theory - Matlab Code & Great Demos

Explore forward kinematics in robotics using screw theory in this comprehensive 25-minute video lesson. Learn to compute forward kinematics for robotic systems without relying on cumbersome methods like Denavit-Hartenberg. Dive into the Product of Exponentials (PoE) formula and its application to various robot configurations, including a 3 DOF planar open chain robot arm, UR5e 6R robot arm, and KUKA KR5 SCARA R550 Z200. Gain practical insights with MATLAB code demonstrations and visual examples. Complement your learning with an accompanying written guide for a deeper understanding of this fundamental robotics concept.

​​ Introduction
​​ Forward Kinematics of a 3 DOF Planar Open Chain Robot Arm
​​ Product of Exponentials Formula PoE
​​ Forward Kinematics of UR5e 6R Robot Arm from Universal Robots
​​ Forward Kinematics of KUKA KR5 SCARA R550 Z200
​​ Concluding remarks