Forward and inverse kinematics of a 6-DOF robotic manipulator with a prismatic joint using MATLAB robotics toolbox

Abstract

Robotic manipulators play a crucial role in automating industrial operations, with increasing demand in the manufacturing industry. Investigating the movement of a manipulator with a substantial number of degrees of freedom (DOF) and finding an analytical resolution to the inverse kinematics is paramount in robot modeling. This study focuses on the kinematic modeling and analysis of a 6-DOF robotic manipulator. It aims to validate the accuracy of forward and inverse kinematics calculations using the Denavit-Hartenberg (D-H) parameterization method and MATLAB GUIDE, ensuring precise motion control and path planning for high-precision applications. The 6-DOF robotic manipulator was constructed using SolidWorks, featuring five revolute joints and one prismatic joint. The D-H parameters were established for the manipulator, and kinematic equations were derived. MATLAB GUIDE was employed to perform forward and inverse kinematics calculations, and the results were validated by comparing expected and obtained values. The forward kinematics results demonstrated minimal discrepancies between expected and obtained end-effector positions, with errors ranging from 0.01 to 0.02 units. Inverse kinematics calculations also showed minor deviations in joint angles, generally within 0.01 degrees, indicating a precise match between desired and computed values. These negligible errors confirm the reliability of the D-H parameter assignment and the kinematic equations used. This study successfully simplifies the complex calculations of forward and inverse kinematics for a six-DOF robotic manipulator, providing a robust foundation for precise motion control and path planning. The findings also validate the D-H parameterization method and highlight the practical importance of accurate kinematic modeling in high-precision applications.