Kinematic and Dynamitic of Robotic Arm Using Four Degrees of Movement

Kinematic and Dynamitic of Robotic Arm Using Four Degrees of Movement

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  • March 10, 2022
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This research paper used the kinematic and dynamitic of robotic arm to demonstrate the movement of a robot arm. Two mathematical models were considered and developed. The first is to solve the problem of accuracy (position) and the second is to solve the problem of speed. For the accuracy or position we consider the kinematics of the robot arm which will show the movement of a robot to a particular position without missing its target. The accuracy at this point is the ability of the robot to place itself to a desired point or particular location with the minimal error. The second model considers the speed of movement, that is the distance covered per unit time, or the rate at which the robot can move usually in m/s. For the speed of the robot, a DC motor which usually moves the robot must be considered in the modelling. The following objectives was used to achieved the aim of this paper: develop mathematical model for robot arm, determine four degrees of freedom of robot arm, determine and develop angles and distance of movement with respect to degrees of freedom, develop mathematical model for the speed of robot, generate the voltage and speed of robot arm and develop the entire models of robot arm position and speed

Keywords: Robotic arm, Kinematic of Robot Arm, Dynamitic of Robot Arm, Mathematical Model

Eze, Ukamaka J. PhD; Bakare, Kazeem, and Ejimofor, Ihekeremma A. | Full PDF