Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots

Abstract

This paper present a direct kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks, and presents an adopted modeling method to represent and simulate the simultaneous positional coordinates for each joint of the robot while it moving from one target to another, where a Lab Volt R5150 robot arm has been taken as a case study. the Denavite -Hartenberg (D-H) model of representation is used to model robot links and joints in this paper. It utilizes Matlab 2010a software as the tools for manipulation and testing. The adopted modeling solution was found to be identical with the physical behaviors.