Before revision: Method The following method is used to determine the product of exponentials for a kinematic chain, with the goal of parameterizing an affine transformation matrix between the base and tool frames in terms of the joint angles Define " Zero configuration" The first step is to select a "zero configuration" where all the joint angles are defined as being zero.
After revision: Method The following method is used to determine the product of exponentials for a kinematic chain, with the goal of parameterizing an affine transformation matrix between the base and tool frames in terms of the joint angles Define " zero configuration" The first step is to select a "zero configuration" where all the joint angles are defined as being zero.