Abstract
In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics. Kinematics provides the rational explication of a robotic manipulator. For the analysis of industrial robotics manipulator a particular type of kinematics model is required. The Denavit Hartenberg criterion has been used to solve the kinematics equations. MATLAB, Firefly Algorithm (FFA) and Roboanalyzer have been used to get the home position and differences in error at different values of six-DOF manipulator. Error can be optimized to as low as 10-17with the firefly algorithm.
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