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

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.