User Guide

Keywords, definitions, abbreviations

• FK: Forward Kinematics
  Refers to the use of axis angles to compute the position of the end-effector

• IK: Inverse Kinematics
  Refers to the use of kinematic equations (i.e. "IK solver"), to determine the axis angles of a robot, given the position of the robot's end-effector in relation to its base frame

• TCP: Tool Center Point
  Refers to the point in relation to which all robot positioning is defined. If the tool on the end of the robot is a marker, for instance, the TCP would be defined as the tip of the marker

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