Inverse and Forward Kinematics Analysis of a ۴ DOF Robot Manipulator

Because of the advent of new technologies, the use of robotic manipulators has been increased in industry. In this paper, we analyze and model the forward and inverse kinematics of a ۴ DOF robotic manipulator. We used the D-H method coordinates for analyzing the inverse and forward kinematics in this paper. The transformation matrices were obtained for each joint using D-H method to obtain forward kinematics results. For inverse kinematics, an algebraic approach is presented for obtaining joint angles. In inverse kinematics, different solutions were obtained for one single end effector position. Also, a program is developed in MATLAB for verification of the forward and inverse kinematics positions and results.

Keywords:

Forwards and Inverse Kinematics , Robot Manipulator , D-H Convention , MATLAB.