• Eklavya Gupta
• Prof. (Dr.) Sunil K. Somani

Robotics is a developing field and enterprises need robots to expand the efficiency. For a specific application, it is wanted to configuration, investigate and simulate the robotic manipulator. The investigation of its movement is one of the imperative viewpoints in planning a robotic manipulator. Kinematics and dynamics are the two critical parameters in the investigation of movement. Kinematics is about the investigation of movement for example of position, speed and acceleration without thinking about the forces. While dynamics manages the investigation of movement by thinking about forces and material properties. Kinematics is classified into forward and inverse kinematics. Forward kinematics manages the investigation of end effector's situation by knowing the joint points and inverse kinematics manages the investigation of the angular positions of the joints for the given end effector's position. In order to get the position of end effector & joint angles, many simulation softwares have been developed by using high level languages. In this work, a Matlab Graphical User Interface Development Environment (GUIDE) is developed using Matlab & is used for forward and inverse kinematics. Using this, on entering the required input parameters, the end positions or the joint angles can be obtained. Also the simulation between initial & final position has been shown.

Robotic Manipulator; Denavit-Hartenberg (D-H) Parameters; Forward Kinematics; Inverse Kinematics

"Kinematic Analysis of Six Degree of Freedom 6R Robotic Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.340-346, May-2019, Available :http://www.jetir.org/papers/JETIR1905056.pdf

"Kinematic Analysis of Six Degree of Freedom 6R Robotic Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp340-346, May-2019, Available at : http://www.jetir.org/papers/JETIR1905056.pdf