Abstract
This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.
Highlights
In recent years, the use of robotics in the manufacturing industries has increased tremendously
Abaas and Abdulridha [7] presented the inverse kinematics solution for the robotic arm (Lab-Volt 5150) with 5 DOF, and the simulate of position and orientation of the end effector are accomplished by the MATLAB software
A geometric approach or algebraic method can obtained the inverse kinematics of the robot arm, in this work, an algebraic method is used to obtain the inverse kinematics of a 5 DOF robotic arm
Summary
The use of robotics in the manufacturing industries has increased tremendously. Robotics has enabled flexibility in manufacturing processes that enable the production of high-quality goods at relatively low cost [1]. The path planning of the robotic arm is depending on the kinematic analysis, involves both velocity kinematics and displacement kinematics. These kinematics analyses are a linear relationship between joint space and end-effector space and are essential for precise control and motion. The forward, inverse, and velocity kinematics of the 5 DOF robotic arm was derived because of its importance in the movement of the arm in the pick and place process
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