Year: 2022
Type: conference-abstract
Abstract: Forward and inverse kinematic studies are essential in the design of robotic arms. The paper investigates kinematics of a robotic arm with 5 degrees of freedom developed on Arduino Mega platform. The forward kinematics allows the establishment of the spatial coordinates and orientation of the end-effector for a given joints set of variables using the Denavit-Hartenberg Representation. The simulation of the 3D CAD model is performed in RVC Matlab Toolbox. The inverse kinematics allows the determination of all joints variables of the robot for a given end-effector position and orientation and is performed analytically.
Authors: Nicholas Lambrache, David Chen, Joseph Fisher
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W4366138629