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Hello today I'm going to use a two revolute joint robot to explain product of exponential formula of forward air kinematics and this formula is used to determine the configuration of an N factor giving the configuration of each individual adjacent link and in order for us to do that we first have to fix find a fixed frame to determine the first configuration of the N factor then find a configuration of the individual adjacent links we and this M happens to be actually the OMO genius transformation which tells us the location of our n factor so in this case since our this is our n factor, and we want to find a configuration of this n factor with respect to a reference frame or our C frame we are going to what make our C frame a fixed frame and determine the configuration of our n factor and when we fix it we'll be able to find the location of our n factor and in this case M as we know this is going to be a positive z axis positive y-axis positive X's M is going to be 1 0 0 0 0 1 0 L 1 0 0 1 L naught 0 0 0 1 because L naught is in a z axis ll L 1 is in our y-axis, and we don't have any then in our X assets, so this defines our location of n factor, so now we have to find a configuration with respect to the fixed frames that we will define, so we know the screw formula we know the linear velocity from a unit linear velocity formula when our joint is a revolute joint meaning that the robot is going to rotate along in this case the positive z axis, so we are not going to have a pitch, so we can use this formula for our velocity, so we know our Q 2 to be AB any arbitrary point our longer axis of rotation which our axis of rotation happens to be Omega so let's go ahead and find our parameters that will define the configuration of the link and eventually help us determine the configuration of our end factor so to make a quick table here ok 1 & 2, so I Omega 1 when B is fixed what is going to Omega 1 is going to be 0 0 1 since the axis of rotation lies in the X and the Z a positive Z direction and Q 1 is going to be an arbitrary point on there, so I'm going to take it to be 0 0 0 that will give us 0 0 0 for ah V 1 now for I Omega 2 when we fix as the C frame we are going to get 0 0 1 also and a Q 1 I want to go with 0 0 I'm sorry L 1 0 and that will give us L 1 0 0 and this gives us the configuration of n factor thank you for watching
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