Kinematics analysis of trajectory planning of four-degree-of-freedom robotic arm

Abstract

This article describes the use of the Open MANIPULATOR-X open robotic platform with four degrees of freedom to model the forward and inverse kinematics of the robot arm. Algorithms for forward and inverse kinematics were developed, and simulations were conducted for comparative analysis. System verification and validation were performed, along with trajectory planning, error analysis, and structural optimization methods. The results obtained serve as a theoretical basis for future research into improving trajectory planning and optimizing robot design. The importance of using the MATLAB platform for kinematic modeling, simulation, and algorithm development is emphasized, contributing to the enhancement of robotics skills and innovation.