Generalized Code for Forward kinematic Analysis of 5-Axis Articulated Robotic Arm using Matlab Programming
G Krishna Teja1, V.V. Prathibha Bharathi2, H Ameresh3, Harish Mugutkar4
1G Krishna Teja, Mechanical Engineering Department, Anurag Group of Institutions, Hyderabad, India.
2Dr. V.V. Prathibha Bharathi, Mechanical Engineering Department, Anurag Group of Institutions, Hyderabad, India.
3H Ameresh, Mechanical Engineering Department, Anurag Group of Institutions, Hyderabad, India.
4Harish Mugutkar, Mechanical Engineering Department, Anurag Group of Institutions, Hyderabad, India.
Manuscript received on 24 August 2019. | Revised Manuscript received on 04 September 2019. | Manuscript published on 30 September 2019. | PP: 3061-3065 | Volume-8 Issue-11, September 2019. | Retrieval Number: K23400981119/2019©BEIESP | DOI: 10.35940/ijitee.K2340.0981119
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Based on the requirements in industry, there is a need to design a low-cost robotic platform which is to be operated remotely through the gripper and control data. This should facilitate in avoiding human involvement in continuous and heavy environments. Kinematic analysis is one of the most important tasks in design of a manipulator. It involves many tasks like mathematical modeling of the manipulator using forward or inverse kinematics. Forward kinematics involves defining the target point or reach point using the joint angles (if it is rotary joint) and coordinates of the joint if it is prismatic joint. Inverse kinematics involves finding out the different possible ways of the joints to reach the given target point. Hence inverse kinematics yields more than one solution for a given target position of an end effectors, thereby it becomes more tedious task to calculate all the possible solutions manually. In this paper Matlab software is used for solving the forward kinematic analysis to calculate the possible joint link parameters to reach the target point using generalized programming.
Keywords: Forward Kinematics, Inverse Kinematics
Scope of the Article: Robotics