Kinematic Modeling of A Low Cost 4 DOF Robot Arm System

Abstract

Robot arm systems are often used worldwide to enhance the quality and productivity of production in the manufacturing industry. Typical applications of robot arm systems include assembly, painting, welding, and pick and place operations. The number of degree-of-freedom (DOF) for most robots in the industry is limited to 6 DOF. An increase in DOF causes a robot arm design to become considerably complicated. This study mainly aims to perform modeling of a low cost 4 DOF robot arm. Modeling simulation of a robot arm was performed using MATLAB. The transformation matrix for each robot arm joint was obtained using the Denavit and Hartenberg convention technique. The modeling concept used for the actual and simulated robot arm is the forward and inverse kinematic models. The accuracy of the robot arm modeling was evaluated by calculating the error value between the modeling of the actual and simulated robot arms. This study successfully modeled a robot arm, although other easy modeling approaches should be investigated in the future.