Product of Exponentials ·
Screw-Theory Forward Kinematics
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seel
.com · T = e^([S₁]θ₁)·e^([S₂]θ₂)·M
θ₁
0°
tool
(2.00, 0.00)
step
—
screw axis S₁
screw axis S₂
tool frame / pose T
tool path
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