Generalized code for forward kinematic analysis of 5-axis articulated robotic arm using matlab programming

Abstract

Based on the requirements in industry, there is a need to design a low-cost robotic platform which is to be operated remotely through the gripper and control data. This should facilitate in avoiding human involvement in continuous and heavy environments. Kinematic analysis is one of the most important tasks in design of a manipulator. It involves many tasks like mathematical modeling of the manipulator using forward or inverse kinematics. Forward kinematics involves defining the target point or reach point using the joint angles (if it is rotary joint) and coordinates of the joint if it is prismatic joint. Inverse kinematics involves finding out the different possible ways of the joints to reach the given target point. Hence inverse kinematics yields more than one solution for a given target position of an end effectors, thereby it becomes more tedious task to calculate all the possible solutions manually. In this paper Matlab software is used for solving the forward kinematic analysis to calculate the possible joint link parameters to reach the target point using generalized programming.