Glossary · Motion control and drives
Forward kinematics
Also known as: Direct kinematics
German: Vorwärtskinematik
In robotics and motion control, forward kinematics is the calculation of the position and orientation of the tool or end effector from the known positions of the machine's joints or axes.
- Motion control
In one sentence
Forward kinematics calculates where a robot's tool is, position and orientation, from the known joint or axis positions.
Example
The robot controller uses forward kinematics to display the TCP coordinates while the operator jogs individual joints.
How it applies
- Engineering: Forward kinematics uses the kinematic model (link lengths, offsets, joint types), often described with Denavit–Hartenberg parameters. For serial robots it has one unique solution.
- Commissioning: Calibration of the kinematic model improves absolute accuracy; mastering (zero positions) must be correct.
- Operation: Controllers use it to report the tool center point (TCP) and for Cartesian workspace monitoring.
- Documentation: Explain coordinate systems (world, base, tool, joint) with figures, and state which one the HMI shows. Safety-rated zone monitoring also depends on correct kinematics and tool data, so point to the procedure for checking tool data after changes.
Forward vs. inverse kinematics
Forward kinematics goes from joint values to tool pose. Inverse kinematics goes from a desired tool pose to joint values; it may have several or no solutions.