anyone good with this stuff?

reason why is we've got one of those modeling arms for taking XYZ points of a model to input into a CAD/CAM program.We need to calculate the forward kinematics so we can get the points.

the thing is we've got six, yes six 4x4 matrices that are filled with fun values.. I can get the exact matrices and values.

sure we could go and spend upwards of a grand on a program that can calculate it but this is a one time thing since once we have the math done its just plug and chug for the rest of the points since it will be integrated into some form of program


the arm was bought from a scrap specialist that gets all sorts of nifty junk and scraps. New the thing would cost close to 80k..So free and some calc work and you cant go wrong.


http://en.wikipedia.org/wiki/Forward_kinematics


http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters

The Denavit Hartenberg Parameters are what needs to be calculated in a nutshell

I haven't worked with this explicitly and I don't have much time right now, but I can get you started on understanding it.

what is the difference between 'n' and 'n-1' ? - food for thought.. even 'b/w 'n+1' ?

understand the definition of a dot-product.

understand that the cross product of 2 vectors gives you a perpendicular vector and how to do that math to find its value.

this calculation is not that complicated, the measurements seem to be the hardest part.

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hmm let me get the exact values and I can try and wrap my head around it