Forward Kinematics and Performance Test of a Six Degree of Freedom Articulated Robotic Arm

Abstract

In this research, the performance test of a six degree of freedom (DOF) articulated robotic arm is presented based on the kinematic analysis. The kinematics is derived based on the Denavit-Hartenberg (DH) representation of the robotic arm. The
simulation of robotic kinematics is performed by RoboAnalyzer simulation software. The use of RoboAnalyzer simulation software
can make the modeling and analysis of serial robots more flexible. The total workspace of a six DOF robotic arm 302.5×302.5×452.5mm to carry a maximum payload of 100g is used for painting operation. A simple painting task to paint a plane on the wall is carried out in order to get the kinematics models of the robotic arm. Twelve points of movement are studied for the forward kinematic modeling. Forward kinematics equations are derived theoretically and results are compared with RoboAnalyzer simulation software. Finally, simulation and performance tests, including the position of the robotic end-effector are presented below.