08.2021.457.466

Simulation and The Theoretical of Forward Kinematics and Inverse Kinematics of The Robotic Arm 6DOF Using Python

Author(s):

Angad Alnoor Saad Bader Alawad*, Ahmed Abdul Hussein Al

Affiliation(s):

Mechanical Engineering Department, University of Baghdad/college Engineering, Karbala/Iraq.

Corresponding Author Email: a.alawad1803m@coeng.uobaghdad.edu.iq; Dr.ahmed.ali@coeng.uobaghdad.edu.iq

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

At present, small and large industries face common problem such as lack of time and workers resulting in inefficient manufacturing processes. Suitable solutions to this problem can be achieved through the use of robotic arms. This work aims to benefit from the work of robotic arms in factories and production lines, such as assembling parts, moving objects, welding, heat treatment, transporting heavy or hot objects, as well as in forming operations. This work focuses on the work of open chain robotic arms by making the robot arm work within the specified workspace. The workspace that has been worked on is the best area to benefit from the robot arm in its work.