# FKine

## FKine

From a robot model and a vector of joint variable values, compute homogeneous transformation matrices from tool frame to base.

### Syntax

• T=FKine(robot,q)

### Input Arguments

• robot –a robot model
• q –a 1 x nq vector of joint variable values, where nq = number of joint variables

### Output Arguments

• T — a 4×4 homogeneous transformation matrix representing tool frame w.r.t base

### Description

A normal forward kinematics solution refers to a homogeneous transformation from the tool frame to base frame. FKine( ) simply calls Link2AT( ), extracts the transformation from top to bottom link, and then adjust for the base and tool frames of the robot. The return matrix is just a 4 x 4 homogenous transformation matrix from tool to base. Nothing else matters.

### Examples

Goal: find forward kinematics from tool to base of an RRR robot.

```-->clear L; -->d1 = 1; a2 = 1; a3 = 1; -->L(1)= Link([0 d1 0 pi/2]); -->L(2)=Link([0 0 a2 0]); -->L(3)=Link([0 0 a3 0]); -->RRR_robot=SerialLink(L); -->q0 = [0 0 0]; -->T=FKine(RRR_robot,q0) T = 1. 0. 0. 2. 0. 0. - 1. 0. 0. 1. 0. 1. 0. 0. 0. 1.```