Kinematic Analysis and Motion Simulation of Six Degrees of Freedom FANUC Robotic Arm

Abstract

This thesis presents a comprehensive kinematic analysis and motion simulation of the FANUC LR Mate 200iD/ER4iA robotic arm. Using the Denavit-Hartenberg (D-H) convention, the forward kinematics of the six-joint manipulator are modeled and validated, calculating the homogeneous transformation matrix to determine the end-effector's position and orientation. MATLAB is employed to compute kinematic parameters and simulate joint movements, while RoboDK provides a visual analysis of the kinematic model. The inverse kinematics are analyzed through the Jacobian matrix, offering insights into joint velocities and end-effector dynamics. Furthermore, a Unity-based simulation integrates these findings into a virtual environment, enhancing visualization and validating the robot's real-world behavior.