Solve Forward and Inverse Kinematics using Jacobian Transformation and Particle Swarm Optimization

• Denavit Hartembert Parameters

• Homogeneous Transformation Matrix

• Solved Forward Kinematics

• Use this functions to calculate the objective function for input on PSO

• Rotation Matrix

• Position Vector

• Rule's to calculate the jacobian linear velocity and angular velocity, respectly

• Final Jacobian Matrix

• And calculate the inverse kinematics

• Set the parameters for particle swarm optimization method

• Using these rules as base