Mathematic model and kinematic analysis for robotic ARM

Abstract

In this paper, the mathematic model and kinematics of robotic arm are mainly analyzed. The direct kinematic analysis with Denavit- Hartenberg (D-H) method is used to determine the parameters with transformation matrices. The calculated parameters of robotic arm are implemented and compared with the measured parameters by rotary encoder to determine the accuracy of each parameter. © 2015 Pushpa Publishing House, Allahabad, India.