Kinematic modelling and trajectory planning for a 4-DOF robotic arm

Robot kinematics is basis of robotics study and is used to plan robot paths and motion. The forward kinematics of the robotic arm were obtained by creating homogenous transformation matrices using Denavit-Hartenberg parameters. This paper concentrates on the D-H approach for robot forward analysis, creates the kinematics model, and shows the simulation design and analysis of a 4-DOF robot using RoboAnalyzer. The RoboAnalyzer will make it simple to compare and describe how different joint velocities and accelerations affect a robot's movement kinematics, so it is used to determine the joint's trajectory motion. Therefore, the entire kinematic analysis 100% matches and validates the estimated result and path planning.