1. bookVolume 15 (2021): Issue 1 (October 2021)
Journal Details
License
Format
Journal
eISSN
2601-5773
First Published
30 Dec 2018
Publication timeframe
2 times per year
Languages
English
access type Open Access

Six DOF Robotic Arm Prototype Modelling By Matlab

Published Online: 09 Dec 2021
Volume & Issue: Volume 15 (2021) - Issue 1 (October 2021)
Page range: 94 - 98
Journal Details
License
Format
Journal
eISSN
2601-5773
First Published
30 Dec 2018
Publication timeframe
2 times per year
Languages
English
Abstract

The study in this paper allows us to control the manipulator and achieve any desired position and orientation. The Forward Kinematics was done using Denavait Hartenberg (DH) parameters, also the forward kinematics equations and homogenous transformation matrix was validated using MATLAB Toolbox. The modeling was carried out using the Peter Corke robotics toolbox.

Finally, the forward kinematic study and the robot arm’s movement equations were compared with practical measurements to make sure it fulfilled the desired purpose and that it could point to the desired coordinates with a precision of ±0.5 cm.

Keywords

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