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Kinematics Analysis of 5 DOF Robotic Arm | ||
| Engineering and Technology Journal | ||
| Article 14, Volume 38, 3A, 2020, Pages 412-422 PDF (492.84 K) | ||
| DOI: 10.30684/etj.v38i3A.475 | ||
| Authors | ||
| Tahseen F. Abaas* 1; Ali A. Khleif* 2; Mohanad Q. Abbood* 2 | ||
| 1Production Engineering and Metallurgy, University of Technology, Baghdad, Iraq. | ||
| 2Production Engineering and Metallurgy, University of Technology, Baghdad, Iraq | ||
| 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. | ||
| Keywords | ||
| Robotic Arm; Forward Kinematics; Inverse Kinematics; Velocity Kinematics | ||
| References | ||
|
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