A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is
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 itdoi:10.33895/mtk-2021.15.18 fatcat:vtjw4ckjjndf3mph2dfapbkovi