KINEMATIC MODELLING AND ANALYSIS OF 5 DOF ROBOTIC ARM

摘要

The control of a robotic arm has been a challenge since earlier days of robots. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. This paper aims to model the forward and inverse kinematics of a 5 DOF Robotic Arm for simple pick and place application. A general D-H representation of forward and inverse matrix is obtained. An analytical solution for the forward and inverse kinematics of 5 DOF robotic arm presented, to analyze the movement of arm from one point in space to another point. The 5 DOF robotic arm is a vertical articulated robot, with five revolute joints. It is a dependable and safe robotic system designed for educational purpose. This versatile system allows students to gain theoretical and practical experience in robotics, automation and control systems.