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Forward Kinematics VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Kinematics VIs

Requires: Robotics Module

Returns a homogenous transform or transforms that represents the position of a robotic arm end effector relative to the base of the arm. Wire data to the joint positions input to determine the polymorphic instance to use or manually select the instance.

.m file: fkine

Examples

Use the pull-down menu to select an instance of this VI.

Forward Kinematics (Point)

Use this instance to calculate the end effector position given the joint positions in a single arm pose.

serial arm in is a reference to a serial robotics arm. Use the Initialize Serial Arm VI to generate this LabVIEW class object.
joint positions specifies the joint angles that make up the robotic arm pose for which you want to calculate the solution.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
serial arm out is a reference to a serial robotic arm. You can wire this output to other Robotic Arm VIs.
end effector transform contains the homogenous transform that represents the position of the robotic arm end effector relative to the base of the arm.
error out contains error information. This output provides standard error out functionality.

Forward Kinematics (Trajectory)

Use this instance to calculate the end effector position given the joint positions for each arm pose in the joint position trajectory. Use the Generate Joint Trajectory VI to calculate joint angles of a robotic arm along a trajectory that you can pass to this VI to calculate forward kinematics for the end effector of the arm.

serial arm in is a reference to a serial robotics arm. Use the Initialize Serial Arm VI to generate this LabVIEW class object.
joint position trajectory specifies the joint angles of the robotic arm pose at points along a trajectory where each row represents a pose at a particular time and each column represents a particular joint.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
serial arm out is a reference to a serial robotic arm. You can wire this output to other Robotic Arm VIs.
end effector transforms is an array that contains the homogenous transforms that represent the location of the robotic arm end effector, relative to the base of the arm, at each time in joint position trajectory.
error out contains error information. This output provides standard error out functionality.

Examples

Refer to the following VIs for examples of using the Forward Kinematics VI:

  • labview\examples\robotics\Simulator\SCARA Arm\SCARA Arm.lvproj
  • labview\examples\robotics\Simulator\Puma560\Puma560 Simulator.lvproj

 

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