Work 4: Forward Kinematics

• Nombre del proyecto: Work 4: Forward Kinematics
• Equipo / Autor(es): Isaac Antonio Perez Aleman
• Curso / Asignatura: Applied Robotics
• Fecha: 22/02/2026

1) Activity Goals

• Correctly assign coordinate frames to each joint following the DH convention.
• Identify the four specific parameters for each link.
• Organize the extracted values into a standard DH parameter table to represent the robot's kinematic structure.

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2) Materials

- No materials required.

3) Analysis

Exercise 1

• Descripción: This exercise only has 2 movements: Prismatic and revolution (RP configuration).

Exercise 2

• Descripción: For this exercise we have a robot with 3 prismatic movements and the tool.

Exercise 3

• Descripción: For this exercise the robot has more movements than the last one, for that we have more joints, movements and a tool.

Exercise 4

• Descripción: This exercise is a little confusing because we have movements, joints and tool, for that we can rewrite the robot for do more easy the analysis.

Exercise 5

• Descripción: This exercise is the same to the last one, we have to rewrite the robot for do more easy the analysis.