• Arumalla Johnson
• Muchi Venkatesh

The aim of this paper is to perform the kinematic analysis of Four degrees of freedom robotic arm. The kinematic analysis is the relationship between the positions, velocities, and accelerations of the links of a manipulator. The kinematics separate into two types, direct kinematics, and inverse kinematics. In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot. In inverse kinematics, the length of each link and position of the point in work volume is given and we have to calculate the angle of each joint. The joint arrangement of every robot can be described by the Denavit-Hartenberg parameters. These parameters are enough to obtain a working of the robot described and presented is a MATLAB program. The main aim of this work is to develop forward and inverse kinematic models of three degrees of freedom articulated arm using MATLAB GUI in order to optimize the manipulative task execution. Forward kinematics analysis is done for the flexible twist angle, link lengths, and link offsets of each joint by varying joint angles to specify the position and orientation of the end effectors. Forward analysis can be used to provide the position of some point on the end effectors together with the orientation of the end effectors measured relative to a coordinate system fixed to the ground for a specified set of joint variables. This simulation allows the user to get forward kinematics and inverse kinematics of articulated robot in various link length parameters and joint angles and corresponding end effectors position and orientation.

Kinematic Analysis, Forward Kinematics, Inverse Kinematics,MATLAB

"Forward and Inverse Kinematic Analysis of 4-DOF TRRR Robotic Arm Using MATLAB", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.8, Issue 10, page no.c707-c718, October-2021, Available :http://www.jetir.org/papers/JETIR2110290.pdf

"Forward and Inverse Kinematic Analysis of 4-DOF TRRR Robotic Arm Using MATLAB", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.8, Issue 10, page no. ppc707-c718, October-2021, Available at : http://www.jetir.org/papers/JETIR2110290.pdf