Abstract
In this article, formulation of direct kinematic model of the six degree of freedom robotic manipulator is designed to perform a task in the 3-D space, which is mostly used in the industrial sector. It defined the nonlinear relationship between the joints displacement as well as the position and orientation of the end effector. The position as well as orientation of the end effector was determined from the angles of joint plus the link parameter. Denavit-Hartenberg theory was applied for an analytic solution of straight forward kinematic transformation. The arm is characterized by a 3 DOF arm and 3 DOF wrists.
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