Mathematic Model and Kinematic Analysis for Robotic Arm

Abstract

In this paper the mathematic model and kinematics of robotic arm are mainly analyzed. The robotic arm uses the Denavit Hartenberg (D-H) method to determine the parameters with transformation matrices. The direct kinematic analysis was conducted to determine the parameter of robotic arm by using Denavit Hartenberg (D-H) method. The calculated parameters of robotic arm were implemented by direct kinematics and compared with the measured parameter by rotary encoder to determine the accuracy of each parameter.

A Study of Conflict Issues Affecting Ugandan Housemaids who Migrate to Saudi Arabia and How to Mitigate them

March 10, 2026

This study aims to comprehensively analyse the complex interplay between