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

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dc.contributor.advisorKorsoveczki, Gyula
dc.contributor.authorAttar, Mohammed Afif
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2025-09-04T16:07:51Z
dc.date.available2025-09-04T16:07:51Z
dc.date.created2024-12-02
dc.description.abstractThis 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.
dc.description.courseMechatronics Engineering
dc.description.degreeBSc/BA
dc.format.extent85
dc.identifier.urihttps://hdl.handle.net/2437/397288
dc.language.isoen
dc.subjectFANUC, 6-DoF Robotic Arm, Forward Kinematics, Inverse Kinematics, MATLAB, Simulation, Unity
dc.subject.dspaceEngineering Sciences
dc.titleKinematic Analysis and Motion Simulation of Six Degrees of Freedom FANUC Robotic Arm
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