Comprehensive Kinematic Analysis for Optimal Performance of a 6-DOF Robotic Manipulator with Prismatic Joint (RRRRRP)

Abstract

The research is centered on the kinematics of six-degree-of-freedom robotic manipulators, which play a crucial role in the movement of various robotic joints. The kinematics issue is a conversion between Cartesian and joint space and vice versa. The study aims to develop a mathematical model for a robotic manipulator’s forward and inverse kinematics with 6-DOF, including a prismatic joint. By utilizing a Denavit–Hartenberg representation, the forward and inverse matrices were calculated. The analytical solution for the kinematics of a 6-DOF manipulator enables an exploration of the manipulator’s movement between two different configurations. The robotic manipulator includes six components: five revolute joints and one prismatic joint.