Kinematic Analysis for Trajectory Planning of Open-Source 4-DoF Robot Arm

Many small and large industries use robot arms to establish a range of tasks such as picking placing, painting in today’s world. However, complete these tasks, one the most critical problems is obtain desire position arm’s end-effector. There are two methods for analyzing arm: forward kinematic analysis inverse analysis. This study aims model an open-source 4 degrees freedom (DoF) articulated robotic arm. A designed further evaluated all joint parameters calculate end-effector’s desired position. Forward simple design, but kinematic, closed-form solution needed. The developed model’s performance assessed on simulated arm, results were analyzed if errors produced within accepted range. At end this study, solutions 4-DoF arm successfully modeled, which provides theoretical basis subsequent research