Joint configuration is the complete set of joint positions of a robot manipulator that together determine the pose of its links and end effector.
Semantic Classification
Content
- A joint configuration is represented as a vector of joint variables, one per degree of freedom, often called the configuration space or joint space of the robot. Each point in this space maps to a specific arrangement of the links.
- Forward kinematics computes the end effector pose from a joint configuration, while inverse kinematics solves for joint configurations that achieve a desired pose, which may have several or no solutions.