Forward Kinematic Analysis of JACO²Robotic Arm Towards Implementing a Grapes Harvesting Robot

Abstract

Robotic manipulators are widely used in many robotic systems, due to their speed, precision and robustness to perform a variety of tasks sometimes better and faster than humans. The development of a robotic system based on a robotic arm, requires accurate mathematical and simulation modeling of the robotic arm. This paper presents the complete mathematical forward kinematic analysis and the Robotic Operating System (ROS) simulation modeling of JACO <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> robotic manipulator. Both analysis and simulation models are essential in order to customize the robot for novel applications, e.g. to perform agricultural operations such as harvest, as part of an autonomous harvesting robot.