Forward kinematics is computation of the position and orientation of robot's end effector as a function of its joint angles. It is widely used in robotics, computer games, and animation. The reverse process is known as inverse kinematics.
For a serial chain of n links, and let θ_{i} be the angle of link i. Given θ_{0} ... θ_{n}, the frame of link n relative to link 0 is:
Where ^{i − 1}T_{i}(θ_{i}) is the transformation matrix from the frame of link i to link i − 1. In robotics, these are conventionally described by DenavitHartenberg parameters ^{[1]}.
