460
K. Bhavsar et al.
Fig. 2 Exploded view of square arm
Fig. 3 Kinematic relationship with adjacent linkages
Table 1 DH parameter of
robotic arm
θ
d
α
a
θ 1
0
−90
0
θ 2
0
0
L 2
θ 3
0
0
L 3
5 Forward Kinematics
i T i =
⎡
⎢
⎢
⎣
Cθ i −Sθ i Cα i Sθ i Sα i a i Cθ i
Sθ i Cθ i Cα i −Cθ i Sα i a i Sθ i
0
Sα i
Cα i
d i
0
0
0
1
⎤
⎥
⎥
⎦
(1)
0 T 1 =
⎡
⎢
⎢
⎣
Cθ 1 0 −Sθ 1 0
Sθ 1 0 Cθ 1 0
0 −1 0 0
0 0
0 1
⎤
⎥
⎥
⎦
K. Bhavsar et al.
Fig. 2 Exploded view of square arm
Fig. 3 Kinematic relationship with adjacent linkages
Table 1 DH parameter of
robotic arm
θ
d
α
a
θ 1
0
−90
0
θ 2
0
0
L 2
θ 3
0
0
L 3
5 Forward Kinematics
i T i =
⎡
⎢
⎢
⎣
Cθ i −Sθ i Cα i Sθ i Sα i a i Cθ i
Sθ i Cθ i Cα i −Cθ i Sα i a i Sθ i
0
Sα i
Cα i
d i
0
0
0
1
⎤
⎥
⎥
⎦
(1)
0 T 1 =
⎡
⎢
⎢
⎣
Cθ 1 0 −Sθ 1 0
Sθ 1 0 Cθ 1 0
0 −1 0 0
0 0
0 1
⎤
⎥
⎥
⎦