• SINGAIAH GALI
• PAVANI BUYYANI
• HEMALATHA CHENGALA
• LAHARI BOLLEDA
• VAMSHI SADHANALA

Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 9PRO is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consist of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB and ROBOCELL. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 9PRO is also described here. PC-and Ether CAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Forward kinematics, D-H model, robotic toolbox, PC and Ether CAT based control.

"Kinematic Analysis of Scorbot-ER 9 PRO Using Forward Kinematics Modelling and Analysis", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.8, Issue 11, page no.d210-d219, November-2021, Available :http://www.jetir.org/papers/JETIR2111334.pdf

"Kinematic Analysis of Scorbot-ER 9 PRO Using Forward Kinematics Modelling and Analysis", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.8, Issue 11, page no. ppd210-d219, November-2021, Available at : http://www.jetir.org/papers/JETIR2111334.pdf