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| Robotic Arm Based on MATLAB Kinematic Analysis and Verification of a Linkage-Type |
| GOU Yanfei，GAN Shukun*，LU Xuefei*
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| School of Mechatronic Engineering, Jilin University of Chemical Technology, Jilin City 132022, China |
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Abstract Taking a linkage-type robotic am as the research object and based on its actual parameters, an improved D-H parameter method was adopted to establish the mathematical model of the robotic arm. The forward and inverse kinematic equations of the mechanical arm were analyzed and derived, Using the Robotics Toolbox in MATLAB, the robotic arm was modeled and analyzed to verify the forward and inverse kinematic solutionsn. Trajectory planning in the joint space was performed to analyze the motion characteristics of the robotic arm. The workspace of the robotic am was obtained using the Monte Carlo method. Finally, the manipulability ellipsoid was constructed through the Jacobian matrix to provide a theoretical basis for the control of the robotic arm.
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Published: 11 July 2026
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