Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Forward Kinematics


Kinematics Analysis of 5 DOF Robotic Arm

Tahseen F. Abaas; Ali A. Khleif; Mohanad Q. Abbood

Engineering and Technology Journal, 2020, Volume 38, Issue 3A, Pages 412-422
DOI: 10.30684/etj.v38i3A.475

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.

Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots

Tahseen Fadhil Abbas

Engineering and Technology Journal, 2013, Volume 31, Issue 3, Pages 500-512

This paper present a direct kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks, and presents an adopted modeling method to represent and simulate the simultaneous positional coordinates for each joint of the robot while it moving from one target to another, where a Lab Volt R5150 robot arm has been taken as a case study. the Denavite – Hartenberg (D-H) model of representation is used to model robot links and joints in this paper. It utilizes Matlab 2010a software as the tools for manipulation and testing. The adopted modeling solution was found to be identical with the physical behaviors.