Kinematics modeling of a 4-DOF robotic arm

This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.