You used a kind of parent-to-child approach to calculate the tip position. I thin we have to add up all the rotations up which is not intuitive and easy to do. So I prefer to use the child to parent approach. Do you have any lecture videos for this?
I am not sure what you mean by child to parent approach, but I have videos on two other methods of forward kinematics at this playlist: czcams.com/play/PLI_ZVs3jy155t5XanVuvsTlQynBaG_l0r.html The Denavit-Hartenberg method uses current frame, and the Product of Exponentials method uses fixed frame representations.
You used a kind of parent-to-child approach to calculate the tip position. I thin we have to add up all the rotations up which is not intuitive and easy to do. So I prefer to use the child to parent approach. Do you have any lecture videos for this?
I am not sure what you mean by child to parent approach, but I have videos on two other methods of forward kinematics at this playlist: czcams.com/play/PLI_ZVs3jy155t5XanVuvsTlQynBaG_l0r.html The Denavit-Hartenberg method uses current frame, and the Product of Exponentials method uses fixed frame representations.