Kinematic analysis model of 4 - DOF robotic arm.

Robot kinematics is the basis of robotics study and is used to plan robot paths and motion. The forward kinematics of robotics arm were obtained by creating homogenous transformation matrices using DH parameters. The joint variables were obtained using an inverse kinematics solution, whereas the kinematics equations were solved using an algebraic technique. The focus of this paper is on DH approach for robot, the kinematics model is generated through an analysis of forward and inverse kinematics, and shows the simulation design and analysis of a 4DOF robot using RoboAnalyzer. The end effector's position and orientation, the amount of the joint variables, and the joint torque and force are all measured using the RoboAnalyzer. [ABSTRACT FROM AUTHOR]