2020•Unpublished venueRequires access

Kinematics Analysis and Jacobian calculation for six Degrees of Freedom Robotic Arm

Manpreet Kaur, Swati Sondhi, Venkata Karteek Yanumula

Abstract

In this paper, a six Degrees of Freedom (DOF) robot manipulator is used. Modeling is done by developing the complete kinematics analysis of robotic arm. The equations of the forward kinematic have been derived based on Denavit-Hartenberg Convention method. Calculation of inverse kinematics of the arm is shown and velocity is computed with the help of Jacobian matrix for the robotic arm. Various end effectors positions are calculated using forward kinematics by changing the joint angles.

About this research paper

What this paper is about

Why it matters

OpenAlex reports 7 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Key concepts: Inverse kinematics, Kinematics, Jacobian matrix and determinant, Forward kinematics, Robotic arm, Kinematics equations, Robot kinematics, Degrees of freedom (physics and chemistry)