Creation of an algorithm for the 3D modeling of manipulator motion and forward positional kinematics

Abstract

In recent years, the utilization of 3D modeling for various robotic systems has gained significant traction, serving educational, research, and diverse applications. Presently, there are a multitude of 3D modeling tools tailored to different facets of robotic research, each possessing distinct advantages and limitations. This paper presents the development of novel algorithms and software aimed at constructing 3D representations of robotic arms that have enabled the visualization of the manipulator and its links’ motion. These algorithms allow for the depiction of forward kinematic outcomes through spatial 3D graphs. Consequently, these graphical representations provide a tangible means to observe the changes in module components and parameter orientations as the manipulator assumes different spatial configurations. Within the Maple environment, a comprehensive 3D model of robotic arms was constructed, and the forward kinematic problem was solved for a manipulator that had five degrees of freedom (DoF). This endeavor was achieved by implementing the Denavit-Hartenberg method to elucidate kinematic characteristics and the Newton-Euler method to ascertain the velocity and acceleration of the robot manipulator’s links. The newly created algorithms and software are expected to be widely used in 3D modeling of robotic manipulators as scientific research in industries and other complex mechanical systems.