Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot. In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values. Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values. The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.

In this study Kuka KR5 arc industrial manipulator was study using Denavait Hartenberg (DH) parameters representation and homogeneous matrix in order to obtain the transformation matrix for six degree of freedom articulated robot using MATLAB. The workspace of Kuka robot can be deduce by computing the transformation matrix with each motor workspace range. finally, the study in this paper allows us to control the manipulator in order to achieve any wanted orientation and position.

The study in this paper allows us to control the manipulator and achieve any desired position and orientation. The Forward Kinematics was done using Denavait Hartenberg (DH) parameters, also the forward kinematics equations and homogenous transformation matrix was validated using MATLAB Toolbox. The modeling was carried out using the Peter Corke robotics toolbox. Finally, the forward kinematic study and the robot arm’s movement equations were compared with practical measurements to make sure it fulfilled the desired purpose and that it could point to the desired coordinates with a precision of ±0.5 cm.

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