This paper presents for the first time a complete kinematic analysis of 5250 Lab-Volt 5-Dof robot which include both forward kinematics and inverse kinematics for this robot arm. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The forward and inverse kinematics for any type of robots are very important in both trajectory planning and position control for the robot arm,the Denavit-Harbenterg (D-H) representation is used to model

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... robot links and joints in this paper. The inverse kinematics have been solved using analytical solution and programmed using MATLAB to move the robot. ‫ر‬ ‫ﻟﺬراع‬ ‫اﻟﺤﺮﻛﻲ‬ ‫اﻟﺘﺤﻠﯿﻞ‬ ‫ﻓﻮﻟﺖ‬ ‫ﻻب‬ ‫وﺑﻮت‬ 5250 ‫ﻟﻠﺤﺮﻛﺔ‬ ‫ﺣﺮﯾﺔ‬ ‫درﺟﺎت‬ ‫ﺧﻤﺴﺔ‬ ‫ذا‬ ‫اﻟﺨﻼﺻﺔ‬ : ‫ﺗﺤﻠﯿﻞ‬ ‫اﻻوﻟﻰ‬ ‫وﻟﻠﻤﺮة‬ ‫اﻟﺒﺤﺚ‬ ‫ھﺬا‬ ‫ﯾﻘﺪم‬ ‫ﻛﺎﻣﻠﻠ‬ ‫ﻓﻮﻟﺖ‬ ‫ﻻب‬ ‫ﻟﺮوﺑﻮت‬ ‫ﻠﺤﺮﻛﺔ‬ 5250 ‫ﺧﻤﺲ‬ ‫ﻟﺪﯾﮫ‬ ‫اﻟﺬي‬ ‫درﺟﺎت‬ ‫ﺣﺮﯾ‬ ‫ﺔ‬ ‫ﻟﻠﺤﺮﻛﺔ‬ , ‫ﺗﺤﻠﯿﻞ‬ ‫اﻟﺘﺤﻠﯿﻞ‬ ‫ھﺬا‬ ‫وﯾﺸﻤﻞ‬ ‫ﻣﻦ‬ ‫ﻛﻞ‬ ‫اﻟﺮوﺑﻮﺗﺎت‬ ‫ﻣﻦ‬ ‫اﻟﻨﻮع‬ ‫ﻟﮭﺬا‬ ‫واﻟﻌﻜﺴﯿﺔ‬ ‫اﻻﻣﺎﻣﯿﺔ‬ ‫اﻟﺤﺮﻛﺔ‬. ‫اﻻ‬ ‫ﻣﻦ‬ ‫اﻟﺘﺤﻮﯾﻞ‬ ‫ﺑﺎﻧﮭﺎ‬ ‫اﻟﺤﺮﻛﺔ‬ ‫ﻣﺸﻜﻠﺔ‬ ‫وﺗﻌﺮف‬ ‫وﺑﺎﻟﻌﻜﺲ‬ ‫اﻟﺮوﺑﻮت‬ ‫ﻣﻔﺎﺻﻞ‬ ‫اﺣﺪاﺛﯿﺎت‬ ‫اﻟﻰ‬ ‫ﺣﺪاﺛﯿﺎﺗﺎﻟﺪﯾﻜﺎرﺗﯿﺔ‬. ‫اﻟﺮوﺑﻮت‬ ‫ﻣﺴﺎر‬ ‫ﺗﺨﻄﯿﻂ‬ ‫ﻓﻲ‬ ‫ﺟﺪا‬ ‫ﻣﮭﻢ‬ ‫اﻟﺮوﺑﻮﺗﺎت‬ ‫اﻧﻮاع‬ ‫ﻣﻦ‬ ‫ﻧﻮع‬ ‫ﻷي‬ ‫واﻟﻌﻜﺴﯿﺔ‬ ‫اﻻﻣﺎﻣﯿﺔ‬ ‫اﻟﺤﺮﻛﺔ‬ ‫ﺗﺤﻠﯿﻞ‬ ‫اﻟﺮوﺑﻮت‬ ‫ﻣﻮﻗﻊ‬ ‫ﻋﻠﻰ‬ ‫واﻟﺴﯿﻄﺮة‬ , ‫ﺗﺤﻮﯾﻞ‬ ‫اﻟﺒﺤﺚ‬ ‫ھﺬا‬ ‫ﻓﻲ‬ ‫اﺳﺘﻌﻤﻞ‬ ‫وﻗﺪ‬ Denavit-Harbenterg ‫ﻟ‬ ‫ﻨﻤﺬﺟﺔ‬ ‫اﻟﺮوﺑﻮت‬ ‫ووﺻﻼت‬ ‫ﻣﻔﺎﺻﻞ‬. ‫وﻗﺪ‬ ‫ﺑﺎﺳﺘﺨﺪام‬ ‫ﺑﺮﻣﺠﺘﮫ‬ ‫ﺗﻤﺖ‬ ‫و‬ ‫اﻟﺘﺤﻠﯿﻠﻲ‬ ‫اﻟﺤﻞ‬ ‫اﻟﻌﻜﺴﻲ‬ ‫اﻟﺘﺤﻠﯿﻞ‬ ‫ﻓﻲ‬ ‫اﺳﺘﺨﺪم‬ ‫اﻟﻤﺎﺗﻼب‬ ‫ﺑﺮﻧﺎﻣﺞ‬ ‫اﻟﺮوﺑﻮت‬ ‫ﻟﺘﺤﺮﯾﻚ‬ .