Abstract
Kinematical investigation and automation of a 4 DOF model robot is discussed in this paper. The well-known Denavit-Hartenberg (DH) parameters are used to prescribe the robot forward- and inverse kinematics. Analytical solution of the inverse kinematical problem is derived by DH homogenous transformation matrix, which gives the relation between the base and the end effector. The article determines the singular positions of the robot. Potential meter and trimmers are attached to the joints of the model robot. A voltage regulator and a controller board of the gripper are designed and built, furthermore an Arduino UNO platform, with a motor shield are used to control the model robot. The main program is written in C code.
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