KINEMATICS ANALYSIS AND MODELING IN MATLAB OF THE 6 DOF ROBOTIC ARM

Abstract

The aim of this study is to analyze the robot arm kinematics which is very important for the movement of all robotic joints. Also they are very important to obtain the indication for controlling or moving of the robot arm in the workspace. In this study the forwards and inverse kinematics of 6 degree of fredom robot arm will be accomplished by using Matlab. Finding the parameters of Denavit-Hartenberg representation, the kinematic equations of motion can be derived which solve the problems of automatic control of the 6 revolute joints manipulator.

Keywords

• gui matlab
• denavit-hardenberg representation
• forward & inverse kinematics