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fkine

Forward kinematics

Calling Sequence

T = fkine(R,Q)

Description

T = fkine(R,Q) is the pose (4x4) of the robot end-effector as a homogeneous transformation for the joint configuration Q (1xN).

If Q is a matrix (KxN) the rows are interpretted as the generalized joint coordinates for a sequence of points along a trajectory. Q(i,j) is the j''th joint parameter for the i''th trajectory point. In this case T is a 3d matrix (4x4xK) where the last subscript is the index along the path.

Notes

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