Research on Kinematic Modeling Methods for Six-Axis Robotic Arms

With the rapid advancement of technology, 6-DOF robotic arms, capable of simulating complex human arm movements and achieving precise positioning and manipulation in 3D space, have become crucial in modern industrial automation. This paper aims to validate the design and implementation of a six-degree-of-freedom (6-DOF) robotic arm controlled by a Raspberry Pi 4B. The robotic arm, composed of six servo systems, is capable of object grasping and manipulation in three-dimensional space. This paper presents forward and inverse kinematic models for the robotic arm's motion control and discusses their application in object grasping tasks. With technological advancements, robotic arms have become increasingly important in various fields such as manufacturing, medical, and construction. This study delves into the forward and inverse kinematics of the 6-DOF robotic arm through the development of new formulas, solutions, and control programs, aiming to achieve precise control over the arm's movements during object manipulation. By creating and testing custom formulas, solutions, and programs, this research seeks to implement and validate the theoretical aspects of the robotic arm's design and operation.