Forward Kinematics

Forward kinematics (FK) focuses on determining the position and orientation of a robot's end-effector or other points of interest given its joint angles. Current research emphasizes improving FK accuracy and efficiency across diverse robotic systems, including serial, parallel, and continuum robots, using methods such as neural networks (e.g., graph neural networks, deep decoder networks), physics-based models enhanced with machine learning, and novel numerical algorithms. These advancements are crucial for precise robot control, motion planning, and accurate interaction with the environment, impacting fields like robotics, human-computer interaction, and medical applications.