Kinematic Analysis of A 6-DOF Robotic Arm

  • Minh Tuan Nguyen
  • Cadmus Yuan
  • Jin Huang HuangEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a kinematic model for a six degree-of-freedom (DOF) robotic arm. Both of forward and inverse kinematic models are established and their solutions are attained based on Denavit-Hartenberg (D-H) parameters and Particle Swarm Algorithm (PSO), respectively. The position and the orientation of the end-effector are obtained through the forward model. The experiment is further performed to validate the sumulation results. Analysis results show that the simulation data are consistent with the measured positions and orientations.


Robotic arm D-H parameters Forward kinematic Inverse kinematic Robotics toolbox PSO algorithm 


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This research was supported by the Ministry of Science and Technology of Taiwan under Contract Nos. MOST 107-2221-E-035 -074 -MY3 and MOST 104-2221-E-035-050-MY3.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Minh Tuan Nguyen
    • 1
  • Cadmus Yuan
    • 2
  • Jin Huang Huang
    • 2
    Email author
  1. 1.Ph.D. Program of Mechanical and Aeronautical EngineeringFeng Chia UniversitySeatwen, TaichungTaiwan, ROC
  2. 2.Department of Mechanical and Computer-Aided EngineeringFeng Chia UniversitySeatwen, TaichungTaiwan, ROC

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