kinematic chain
The sequence of connected links and joints in a robot arm. Calculating the kinematic chain means multiplying transformation matrices to determine the position of the robot’s tool relative to a target.
A kinematic chain is the sequence of connected links and joints that form a robot's structure. It describes how the robot is assembled—one link connected to another through joints, creating a chain from the base to the end-effector.
The mathematical magic: Multiply transformation matrices along the chain to calculate where the end-effector is in space.
Share: