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# Direct and inverse kinematics

Hello,

I'm trying to calculate direct and inverse kinematics of the robot. For that, I need denavit-Hartenberg parameters.

I searched on the site but I did not find anything.

Has someone already calculated them or is it already provided by the site and I have not seen ?

Hi Vincent,

All the dimensions required for calculating inverse kinematics are provided on the robot page: https://dorna.ai/robot/

I'm not familiar with denavit-Hartenberg parameters, but you should be able to infer them from the dimensions of the arms.

There are also two helper functions in API called _joint_to_xyz() and _xyz_to_joint() that do forward and inverse kinematics calculations for API calls. You can see the way we have implemented them here: https://github.com/dorna-robotics/dorna/blob/master/dorna/api.py

Hope it helps.

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Kinematics studies the motion of bodies without consideration of the forces or
moments that cause the motion. Robot kinematics refers the analytical study of
the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics
modelling of manipulators namely, Cartesian space and Quaternion space. The
transformation between two Cartesian coordinate systems can be decomposed
into a rotation and a translation. There are many ways to represent rotation,
including the following: Euler angles, Gibbs vector, Cayley-Klein parameters,
Pauli spin matrices, axis and angle, orthonormal matrices, and Hamilton 's
quaternions. Of these representations, homogenous transformations based on
4x4 real matrices (orthonormal matrices) have been used most often in robotics. Denavit & Hartenberg (1955) showed that a general transformation between two joints requires four parameters. These parameters known as the
Denavit-Hartenberg (DH) parameters have become the standard for describing
robot kinematics. Although quaternions constitute an elegant representation
for rotation, they have not been used as much as homogenous transformations
by the robotics community. epicfollowers

Kinematics studies the motion of bodies without consideration of the forces or
moments that cause the motion. Robot kinematics refers the analytical study of
the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics
modelling of manipulators namely, Cartesian space and Quaternion space. The
transformation between two Cartesian coordinate systems can be decomposed
into a rotation and a translation. There are many ways to represent rotation,
including the following: Euler angles, Gibbs vector, Cayley-Klein parameters,
Pauli spin matrices, axis and angle, orthonormal matrices, and Hamilton 's
quaternions.