A Novel Analytical Framework for Kinematic Modeling of Manipulators with Experimental Validation

In this paper, we present a novel analytical framework for kinematic modeling of robotic manipulators that utilizes a linear matrix-based approach to represent the system's behavior. Unlike traditional methods which often rely on nonlinear formulations or approximations, this method provides an unified model for the kinematics of manipulators which is linear in terms of all the unknown geometrical parameters of the robot. This model enables the estimation of geometric parameters using the least squares method. The framework is designed to be general, applicable to a wide range of manipulator configurations and geometries. To validate the proposed model, a series of experimental tests on a six-degree-of-freedom robot were conducted. The results demonstrate the accuracy and effectiveness of the model, highlighting its potential for practical applications in robotics