Famtemeh Edalati - Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran
Hadiseh Babazadeh - Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran

In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method and for the velocity analysis of the motion of manipulators a jacobian matrix is defined which represents the mapping of velocities from joint space to Cartesian space.

kinematics, D-H parameter, manipulators, Jacobian matrix