Kinematic Analysis of A 6-DOF Robotic Arm

Abstract

This paper presents a kinematic model for a six degree-of-freedom (DOF) robotic arm. Both of forward and inverse kinematic models are established and their solutions are attained based on Denavit-Hartenberg (D-H) parameters and Particle Swarm Algorithm (PSO), respectively. The position and the orientation of the end-effector are obtained through the forward model. The experiment is further performed to validate the sumulation results. Analysis results show that the simulation data are consistent with the measured positions and orientations.