Velocity Kinematics Analysis and Trajectory Planning of 5 DOF Robotic Arm

Authors

• Tahseen Abaas, Production Engineering and Metallurgy, University of Technology, Baghdad, Iraq.Follow
• Ali Khleif, Production Engineering and Metallurgy, University of Technology, Baghdad, IraqFollow
• Mohanad Abbood, Production Engineering and Metallurgy, University of Technology, Baghdad, IraqFollow

Keywords

Industrial Robot, Velocity Kinematic, Trajectory Planning, Polynomial Equation

Document Type

Research Paper

Abstract

Trajectory planning is important in robots to achieve smooth path planning. This paper presents the velocity kinematics analysis and trajectory planning of a 5 DOF robotic arm. The Jacobian matrix is utilized to analyze the velocity kinematics and the third-order polynomial equation is used to determine the path of angle, velocity, and acceleration of the robotic arm. A 5 DOF robotic arm used with revolute joints and the motion of it is performed using the Arduino Mega2560 (microcontroller) which controlling on servo motors. The results of the velocity kinematics indicated the maximum linear velocity occurs with the z-direction and the cubic polynomial equation satisfied a smooth path for angle and velocity but a discontinuous path for acceleration

Recommended Citation

Abaas, Tahseen; Khleif, Ali; and Abbood, Mohanad (2026) "Velocity Kinematics Analysis and Trajectory Planning of 5 DOF Robotic Arm," Engineering and Technology Journal: Vol. 38: Iss. 5, Article 12.
DOI: https://doi.org/10.30684/etj.v38i5A.888

DOI

10.30684/etj.v38i5A.888

First Page

738

Last Page

747