Theoretical and experimental investigation on direct kinematic of pick and place 4R robotic arm using algebraic and software approach

The main objective of this research is to understand the concept of Direct (Forword) Kinematics, which deals with how a robotic arm can be programmed for pick and place activities. This manuscript compares two methods—algebraic method (Homogeneous matrix transformation & Denavit–Hartenberg) and software-based RoboAnalyzer—to calculate the direct kinematics of 4R joint robotic arms. The result obtained by both methods is 99.9% (Approximately) accurate and matches with actual experimental as shown in result and discussion section. A servo motor will actuate these joints while motion control will be done by Arduino Uno controller. The calculations are shown and compared for individual link and final position of robotic arm for pick up activity only. The algebraic results are obtained using both methods like Homogeneous matrix transformation and Denavit–Hartenberg method for direct kinematics of robot manipulator. The software-based results are obtained by using Robo Analyser software. The results obtained from this research could also help engineers design more efficient robots with better motion control capabilities, as well as provide insights into improving existing robot designs.