Abstract
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.
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